Adaptive Autopilot: Constrained DRL for Diverse Driving Behaviors

In pursuit of autonomous vehicles, achieving human-like driving behavior is vital. This study introduces adaptive autopilot (AA), a unique framework utilizing constrained-deep reinforcement learning (C-DRL). AA aims to safely emulate human driving to reduce the necessity for driver intervention. Focusing on the car-following scenario, the process involves (i) extracting data from the highD natural driving study and categorizing it into three driving styles using a rule-based classifier; (ii) employing deep neural network (DNN) regressors to predict human-like acceleration across styles; and (iii) using C-DRL, specifically the soft actor-critic Lagrangian technique, to learn human-like safe driving policies. Results indicate effectiveness in each step, with the rule-based classifier distinguishing driving styles, the regressor model accurately predicting acceleration, outperforming traditional car-following models, and C-DRL agents learning optimal policies for humanlike driving across styles.

Combining Relevance and Magnitude for Resource-Aware DNN Pruning

Pruning neural networks, i.e., removing some of their parameters whilst retaining their accuracy, is one of the main ways to reduce the latency of a machine learning pipeline, especially in resource- and/or bandwidth-constrained scenarios. In this context, the pruning technique, i.e., how to choose the parameters to remove, is critical to the system performance. In this paper, we propose a novel pruning approach, called FlexRel and predicated upon combining training-time and inference-time information, namely, parameter magnitude and relevance, in order to improve the resulting accuracy whilst saving both computational resources and bandwidth. Our performance evaluation shows that FlexRel is able to achieve higher pruning factors, saving over 35% bandwidth for typical accuracy targets.

Edge-Assisted ML-Aided Uncertainty-Aware Vehicle Collision Avoidance at Urban Intersections

Intersection crossing represents one of the most dangerous sections of the road infrastructure and Connected Vehicles (CVs) can serve as a revolutionary solution to the problem. In this work, we present a novel framework that detects preemptively collisions at urban crossroads, exploiting the Multi-access Edge Computing (MEC) platform of 5G networks. At the MEC, an Intersection Manager (IM) collects information from both vehicles and the road infrastructure to create a holistic view of the area of interest. Based on the historical data collected, the IM leverages the capabilities of an encoder-decoder recurrent neural network to predict, with high accuracy, the future vehicles' trajectories. As, however, accuracy is not a sufficient measure of how much we can trust a model, trajectory predictions are additionally associated with a measure of uncertainty towards confident collision forecasting and avoidance. Hence, contrary to any other approach in the state of the art, an uncertainty-aware collision prediction framework is developed that is shown to detect well in advance (and with high reliability) if two vehicles are on a collision course. Subsequently, collision detection triggers a number of alarms that signal the colliding vehicles to brake. Under real-world settings, thanks to the preemptive capabilities of the proposed approach, all the simulated imminent dangers are averted.

Resource-aware Deployment of Dynamic DNNs over Multi-tiered Interconnected Systems

The increasing pervasiveness of intelligent mobile applications requires to exploit the full range of resources offered by the mobile-edge-cloud network for the execution of inference tasks. However, due to the heterogeneity of such multi-tiered networks, it is essential to make the applications' demand amenable to the available resources while minimizing energy consumption. Modern dynamic deep neural networks (DNN) achieve this goal by designing multi-branched architectures where early exits enable sample-based adaptation of the model depth. In this paper, we tackle the problem of allocating sections of DNNs with early exits to the nodes of the mobile-edge-cloud system. By envisioning a 3-stage graph-modeling approach, we represent the possible options for splitting the DNN and deploying the DNN blocks on the multi-tiered network, embedding both the system constraints and the application requirements in a convenient and efficient way. Our framework -- named Feasible Inference Graph (FIN) -- can identify the solution that minimizes the overall inference energy consumption while enabling distributed inference over the multi-tiered network with the target quality and latency. Our results, obtained for DNNs with different levels of complexity, show that FIN matches the optimum and yields over 65% energy savings relative to a state-of-the-art technique for cost minimization.

Dependable Distributed Training of Compressed Machine Learning Models

The existing work on the distributed training of machine learning (ML) models has consistently overlooked the distribution of the achieved learning quality, focusing instead on its average value. This leads to a poor dependability}of the resulting ML models, whose performance may be much worse than expected. We fill this gap by proposing DepL, a framework for dependable learning orchestration, able to make high-quality, efficient decisions on (i) the data to leverage for learning, (ii) the models to use and when to switch among them, and (iii) the clusters of nodes, and the resources thereof, to exploit. For concreteness, we consider as possible available models a full DNN and its compressed versions. Unlike previous studies, DepL guarantees that a target learning quality is reached with a target probability, while keeping the training cost at a minimum. We prove that DepL has constant competitive ratio and polynomial complexity, and show that it outperforms the state-of-the-art by over 27% and closely matches the optimum.

Robust Localization and Tracking of UAVs in OTFS-based Networks

We consider the problem of accurately localizing N unmanned aerial vehicles (UAV) in 3D space where the UAVs are part of a swarm and communicate with each other through orthogonal time-frequency space (OTFS) modulated signals. Each receiving UAV estimates the multipath wireless channel on each link formed by the line-of-sight (LoS) transmission and by the single reflections from the remaining N-2 UAVs. The estimated power delay profiles are communicated to an edge server, which is in charge of computing the exact location and speed of the UAVs. To obtain the UAVs locations and velocities, we propose an iterative algorithm, named Turbo Iterative Positioning (TIP), which, using a belief-propagation approach, effectively exploits the time difference of arrival (TDoA) measurements between the LoS and the non-LoS paths. Enabling a full cold start (no prior knowledge), our solution first maps each TDoA's profile element to a specific ID of the reflecting UAV's. The Doppler shifts measured by the OTFS receivers associated with each path are also used to estimate the UAV's velocities. The localization of the N UAVs is then derived via gradient descent optimization, with the aid of turbo-like iterations that can progressively correct some of the residual errors in the initial ID mapping operation. Our numerical results, obtained also using real-world traces, show how the multipath links are beneficial to achieving very accurate localization and speed of all UAVs, even with a limited delay-Doppler resolution. Robustness of our scheme is proven by its performance approaching the Cramer-Rao bound.

5G-Advanced Towards 6G: Past, Present, and Future

Since the start of 5G work in 3GPP in early 2016, tremendous progress has been made in both standardization and commercial deployments. 3GPP is now entering the second phase of 5G standardization, known as 5G-Advanced, built on the 5G baseline in 3GPP Releases 15, 16, and 17. 3GPP Release 18, the start of 5G-Advanced, includes a diverse set of features that cover both device and network evolutions, providing balanced mobile broadband evolution and further vertical domain expansion and accommodating both immediate and long-term commercial needs. 5G-Advanced will significantly expand 5G capabilities, address many new use cases, transform connectivity experiences, and serve as an essential step in developing mobile communications towards 6G. This paper provides a comprehensive overview of the 3GPP 5G-Advanced development, introducing the prominent state-of-the-art technologies investigated in 3GPP and identifying key evolution directions for future research and standardization.

Unexpectedly Useful: Convergence Bounds And Real-World Distributed Learning

Convergence bounds are one of the main tools to obtain information on the performance of a distributed machine learning task, before running the task itself. In this work, we perform a set of experiments to assess to which extent, and in which way, such bounds can predict and improve the performance of real-world distributed (namely, federated) learning tasks. We find that, as can be expected given the way they are obtained, bounds are quite loose and their relative magnitude reflects the training rather than the testing loss. More unexpectedly, we find that some of the quantities appearing in the bounds turn out to be very useful to identify the clients that are most likely to contribute to the learning process, without requiring the disclosure of any information about the quality or size of their datasets. This suggests that further research is warranted on the ways -- often counter-intuitive -- in which convergence bounds can be exploited to improve the performance of real-world distributed learning tasks.

Matching DNN Compression and Cooperative Training with Resources and Data Availability

To make machine learning (ML) sustainable and apt to run on the diverse devices where relevant data is, it is essential to compress ML models as needed, while still meeting the required learning quality and time performance. However, how much and when an ML model should be compressed, and {\em where} its training should be executed, are hard decisions to make, as they depend on the model itself, the resources of the available nodes, and the data such nodes own. Existing studies focus on each of those aspects individually, however, they do not account for how such decisions can be made jointly and adapted to one another. In this work, we model the network system focusing on the training of DNNs, formalize the above multi-dimensional problem, and, given its NP-hardness, formulate an approximate dynamic programming problem that we solve through the PACT algorithmic framework. Importantly, PACT leverages a time-expanded graph representing the learning process, and a data-driven and theoretical approach for the prediction of the loss evolution to be expected as a consequence of training decisions. We prove that PACT's solutions can get as close to the optimum as desired, at the cost of an increased time complexity, and that, in any case, such complexity is polynomial. Numerical results also show that, even under the most disadvantageous settings, PACT outperforms state-of-the-art alternatives and closely matches the optimal energy cost.

Energy-efficient Training of Distributed DNNs in the Mobile-edge-cloud Continuum

We address distributed machine learning in multi-tier (e.g., mobile-edge-cloud) networks where a heterogeneous set of nodes cooperate to perform a learning task. Due to the presence of multiple data sources and computation-capable nodes, a learning controller (e.g., located in the edge) has to make decisions about (i) which distributed ML model structure to select, (ii) which data should be used for the ML model training, and (iii) which resources should be allocated to it. Since these decisions deeply influence one another, they should be made jointly. In this paper, we envision a new approach to distributed learning in multi-tier networks, which aims at maximizing ML efficiency. To this end, we propose a solution concept, called RightTrain, that achieves energy-efficient ML model training, while fulfilling learning time and quality requirements. RightTrain makes high-quality decisions in polynomial time. Further, our performance evaluation shows that RightTrain closely matches the optimum and outperforms the state of the art by over 50%.