In this paper, we consider the design of data-driven predictive controllers for nonlinear systems from input-output data via linear-in-control input Koopman lifted models. Instead of identifying and simulating a Koopman model to predict future outputs, we design a subspace predictive controller in the Koopman space. This allows us to learn the observables minimizing the multi-step output prediction error of the Koopman subspace predictor, preventing the propagation of prediction errors. To avoid losing feasibility of our predictive control scheme due to prediction errors, we compute a terminal cost and terminal set in the Koopman space and we obtain recursive feasibility guarantees through an interpolated initial state. As a third contribution, we introduce a novel regularization cost yielding input-to-state stability guarantees with respect to the prediction error for the resulting closed-loop system. The performance of the developed Koopman data-driven predictive control methodology is illustrated on a nonlinear benchmark example from the literature.
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In this paper, we study the problem of online tracking in linear control systems, where the objective is to follow a moving target. Unlike classical tracking control, the target is unknown, non-stationary, and its state is revealed sequentially, thus, fitting the framework of online non-stochastic control. We consider the case of quadratic costs and propose a new algorithm, called predictive linear online tracking (PLOT). The algorithm uses recursive least squares with exponential forgetting to learn a time-varying dynamic model of the target. The learned model is used in the optimal policy under the framework of receding horizon control. We show the dynamic regret of PLOT scales with $\mathcal{O}(\sqrt{TV_T})$, where $V_T$ is the total variation of the target dynamics and $T$ is the time horizon. Unlike prior work, our theoretical results hold for non-stationary targets. We implement PLOT on a real quadrotor and provide open-source software, thus, showcasing one of the first successful applications of online control methods on real hardware.
This paper considers a challenging scenario of machine type communications, where we assume internet of things (IoT) devices send short packets sporadically to an access point (AP) and the devices are not synchronized in the packet level. High transmission efficiency and low latency are concerned. Motivated by the great potential of multiple-input multiple-output non-orthogonal multiple access (MIMO-NOMA) in massive access, we design a grant-free MIMO-NOMA scheme, and in particular differential modulation is used so that expensive channel estimation at the receiver (AP) can be bypassed. The receiver at AP needs to carry out active device detection and multi-device data detection. The active user detection is formulated as the estimation of the common support of sparse signals, and a message passing based sparse Bayesian learning (SBL) algorithm is designed to solve the problem. Due to the use of differential modulation, we investigate the problem of non-coherent multi-device data detection, and develop a message passing based Bayesian data detector, where the constraint of differential modulation is exploited to drastically improve the detection performance, compared to the conventional non-coherent detection scheme. Simulation results demonstrate the effectiveness of the proposed active device detector and non-coherent multi-device data detector.
In this paper, we introduce a robotic agent specifically designed to analyze external environments and address participants' questions. The primary focus of this agent is to assist individuals using language-based interactions within video-based scenes. Our proposed method integrates video recognition technology and natural language processing models within the robotic agent. We investigate the crucial factors affecting human-robot interactions by examining pertinent issues arising between participants and robot agents. Methodologically, our experimental findings reveal a positive relationship between trust and interaction efficiency. Furthermore, our model demonstrates a 2\% to 3\% performance enhancement in comparison to other benchmark methods.
In this paper, we study an intelligent reflecting surface (IRS)-aided communication system with single-antenna transmitter and receiver, under imperfect channel state information (CSI). More specifically, we deal with the robust selection of binary (on/off) states of the IRS elements in order to maximize the worst-case energy efficiency (EE), given a bounded CSI uncertainty, while satisfying a minimum signal-to-noise ratio (SNR). In addition, we consider not only continuous but also discrete IRS phase shifts. First, we derive closed-form expressions of the worst-case SNRs, and then formulate the robust (discrete) optimization problems for each case. In the case of continuous phase shifts, we design a dynamic programming (DP) algorithm that is theoretically guaranteed to achieve the global maximum with polynomial complexity $O(L\,{\log L})$, where $L$ is the number of IRS elements. In the case of discrete phase shifts, we develop a convex-relaxation-based method (CRBM) to obtain a feasible (sub-optimal) solution in polynomial time $O(L^{3.5})$, with a posteriori performance guarantee. Furthermore, numerical simulations provide useful insights and confirm the theoretical results. In particular, the proposed algorithms are several orders of magnitude faster than the exhaustive search when $L$ is large, thus being highly scalable and suitable for practical applications. Moreover, both algorithms outperform a baseline scheme, namely, the activation of all IRS elements.
In this work, we introduce a novel approach for solving tridiagonal Toeplitz systems with multiple right-hand sides.
In this work, we introduce a framework for speech summarization that leverages the processing and reasoning capabilities of large language models (LLMs). We propose an end-to-end system that combines an instruction-tuned LLM with an audio encoder that converts speech into token representations that the LLM can interpret. Using a dataset with paired speech-text data, the overall system is trained to generate consistent responses to prompts with the same semantic information regardless of the input modality. The resulting framework allows the LLM to process speech inputs in the same way as text, enabling speech summarization by simply prompting the LLM. Unlike prior approaches, our method is able to summarize spoken content from any arbitrary domain, and it can produce summaries in different styles by varying the LLM prompting strategy. Experiments demonstrate that our approach outperforms a cascade baseline of speech recognition followed by LLM text processing.
In this paper, we present a very first study to investigate trust and ethical implications of on-device artificial intelligence (AI), focusing on ''small'' language models (SLMs) amenable for personal devices like smartphones. While on-device SLMs promise enhanced privacy, reduced latency, and improved user experience compared to cloud-based services, we posit that they might also introduce significant challenges and vulnerabilities compared to on-server counterparts. As part of our trust assessment study, we conduct a systematic evaluation of the state-of-the-art on-devices SLMs, contrasted to their on-server counterparts, based on a well-established trustworthiness measurement framework. Our results show on-device SLMs to be (statistically) significantly less trustworthy, specifically demonstrating more stereotypical, unfair and privacy-breaching behavior. Informed by these findings, we then perform our ethics assessment study by inferring whether SLMs would provide responses to potentially unethical vanilla prompts, collated from prior jailbreaking and prompt engineering studies and other sources. Strikingly, the on-device SLMs did answer valid responses to these prompts, which ideally should be rejected. Even more seriously, the on-device SLMs responded with valid answers without any filters and without the need for any jailbreaking or prompt engineering. These responses can be abused for various harmful and unethical scenarios including: societal harm, illegal activities, hate, self-harm, exploitable phishing content and exploitable code, all of which indicates the high vulnerability and exploitability of these on-device SLMs. Overall, our findings highlight gaping vulnerabilities in state-of-the-art on-device AI which seem to stem from resource constraints faced by these models and which may make typical defenses fundamentally challenging to be deployed in these environments.
In this paper, we study the problem of digital pre/post-coding design in multiple-input multiple-output (MIMO) systems with 1-bit resolution per complex dimension. The optimal solution that maximizes the received signal-to-noise ratio relies on an NP-hard combinatorial problem that requires exhaustive searching with exponential complexity. By using the principles of alternating optimization and quantum annealing (QA), an iterative QA-based algorithm is proposed that achieves near-optimal performance with polynomial complexity. The algorithm is associated with a rigorous mathematical framework that casts the pre/post-coding vector design to appropriate real-valued quadratic unconstrained binary optimization (QUBO) problems. Experimental results in a state-of-the-art D-WAVE QA device validate the efficiency of the proposed algorithm. To further improve the efficiency of the D-WAVE quantum device, a new pre-processing technique which preserves the quadratic QUBO matrix from the detrimental effects of the Hamiltonian noise through non-linear companding, is proposed. The proposed pre-processing technique significantly improves the quality of the D-WAVE solutions as well as the occurrence probability of the optimal solution.
In this paper, we investigate a multiple-input multiple-output (MIMO) integrated sensing and communication (ISAC) system under typical block-fading channels. As a non-trivial extension to most existing works on ISAC, both the training and transmission signals sent by the ISAC transmitter are exploited for sensing. Specifically, we develop two training and transmission design schemes to minimize a weighted sum of the mean-squared errors (MSEs) of data transmission and radar target response matrix (TRM) estimation. For the former, we first optimize the training signal for simultaneous communication channel and radar TRM estimation. Then, based on the estimated instantaneous channel state information (CSI), we propose an efficient majorization-minimization (MM)-based robust ISAC transmission design, where a semi-closed form solution is obtained in each iteration. For the second scheme, the ISAC transmitter is assumed to have statistical CSI only for reducing the feedback overhead. With CSI statistics available, we integrate the training and transmission design into one single problem and propose an MM-based alternating algorithm to find a high-quality solution. In addition, we provide alternative structured and low-complexity solutions for both schemes under certain special cases. Finally, simulation results demonstrate that the radar performance is significantly improved compared to the existing scheme that integrates sensing into the transmission stage only. Moreover, it is verified that the investigated two schemes have advantages in terms of communication and sensing performances, respectively.
In this paper, we propose the joint learning attention and recurrent neural network (RNN) models for multi-label classification. While approaches based on the use of either model exist (e.g., for the task of image captioning), training such existing network architectures typically require pre-defined label sequences. For multi-label classification, it would be desirable to have a robust inference process, so that the prediction error would not propagate and thus affect the performance. Our proposed model uniquely integrates attention and Long Short Term Memory (LSTM) models, which not only addresses the above problem but also allows one to identify visual objects of interests with varying sizes without the prior knowledge of particular label ordering. More importantly, label co-occurrence information can be jointly exploited by our LSTM model. Finally, by advancing the technique of beam search, prediction of multiple labels can be efficiently achieved by our proposed network model.
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