MPCOM: Robotic Data Gathering with Radio Mapping and Model Predictive Communication

Robotic data gathering (RDG) is an emerging paradigm that navigates a robot to harvest data from remote sensors. However, motion planning in this paradigm needs to maximize the RDG efficiency instead of the navigation efficiency, for which the existing motion planning methods become inefficient, as they plan robot trajectories merely according to motion factors. This paper proposes radio map guided model predictive communication (MPCOM), which navigates the robot with both grid and radio maps for shape-aware collision avoidance and communication-aware trajectory generation in a dynamic environment. The proposed MPCOM is able to trade off the time spent on reaching goal, avoiding collision, and improving communication. MPCOM captures high-order signal propagation characteristics using radio maps and incorporates the map-guided communication regularizer to the motion planning block. Experiments in IRSIM and CARLA simulators show that the proposed MPCOM outperforms other benchmarks in both LOS and NLOS cases. Real-world testing based on car-like robots is also provided to demonstrate the effectiveness of MPCOM in indoor environments.

Integrated Sensing and Communication for Edge Inference with End-to-End Multi-View Fusion

Integrated sensing and communication (ISAC) is a promising solution to accelerate edge inference via the dual use of wireless signals. However, this paradigm needs to minimize the inference error and latency under ISAC co-functionality interference, for which the existing ISAC or edge resource allocation algorithms become inefficient, as they ignore the inter-dependency between low-level ISAC designs and high-level inference services. This letter proposes an inference-oriented ISAC (IO-ISAC) scheme, which minimizes upper bounds on end-to-end inference error and latency using multi-objective optimization. The key to our approach is to derive a multi-view inference model that accounts for both the number of observations and the angles of observations, by integrating a half-voting fusion rule and an angle-aware sensing model. Simulation results show that the proposed IO-ISAC outperforms other benchmarks in terms of both accuracy and latency.

CSST Strong Lensing Preparation: a Framework for Detecting Strong Lenses in the Multi-color Imaging Survey by the China Survey Space Telescope (CSST)

Strong gravitational lensing is a powerful tool for investigating dark matter and dark energy properties. With the advent of large-scale sky surveys, we can discover strong lensing systems on an unprecedented scale, which requires efficient tools to extract them from billions of astronomical objects. The existing mainstream lens-finding tools are based on machine learning algorithms and applied to cut-out-centered galaxies. However, according to the design and survey strategy of optical surveys by CSST, preparing cutouts with multiple bands requires considerable efforts. To overcome these challenges, we have developed a framework based on a hierarchical visual Transformer with a sliding window technique to search for strong lensing systems within entire images. Moreover, given that multi-color images of strong lensing systems can provide insights into their physical characteristics, our framework is specifically crafted to identify strong lensing systems in images with any number of channels. As evaluated using CSST mock data based on an Semi-Analytic Model named CosmoDC2, our framework achieves precision and recall rates of 0.98 and 0.90, respectively. To evaluate the effectiveness of our method in real observations, we have applied it to a subset of images from the DESI Legacy Imaging Surveys and media images from Euclid Early Release Observations. 61 new strong lensing system candidates are discovered by our method. However, we also identified false positives arising primarily from the simplified galaxy morphology assumptions within the simulation. This underscores the practical limitations of our approach while simultaneously highlighting potential avenues for future improvements.

TablePuppet: A Generic Framework for Relational Federated Learning

Current federated learning (FL) approaches view decentralized training data as a single table, divided among participants either horizontally (by rows) or vertically (by columns). However, these approaches are inadequate for handling distributed relational tables across databases. This scenario requires intricate SQL operations like joins and unions to obtain the training data, which is either costly or restricted by privacy concerns. This raises the question: can we directly run FL on distributed relational tables? In this paper, we formalize this problem as relational federated learning (RFL). We propose TablePuppet, a generic framework for RFL that decomposes the learning process into two steps: (1) learning over join (LoJ) followed by (2) learning over union (LoU). In a nutshell, LoJ pushes learning down onto the vertical tables being joined, and LoU further pushes learning down onto the horizontal partitions of each vertical table. TablePuppet incorporates computation/communication optimizations to deal with the duplicate tuples introduced by joins, as well as differential privacy (DP) to protect against both feature and label leakages. We demonstrate the efficiency of TablePuppet in combination with two widely-used ML training algorithms, stochastic gradient descent (SGD) and alternating direction method of multipliers (ADMM), and compare their computation/communication complexity. We evaluate the SGD/ADMM algorithms developed atop TablePuppet by training diverse ML models. Our experimental results show that TablePuppet achieves model accuracy comparable to the centralized baselines running directly atop the SQL results. Moreover, ADMM takes less communication time than SGD to converge to similar model accuracy.

LLM-Enhanced Data Management

Machine learning (ML) techniques for optimizing data management problems have been extensively studied and widely deployed in recent five years. However traditional ML methods have limitations on generalizability (adapting to different scenarios) and inference ability (understanding the context). Fortunately, large language models (LLMs) have shown high generalizability and human-competitive abilities in understanding context, which are promising for data management tasks (e.g., database diagnosis, database tuning). However, existing LLMs have several limitations: hallucination, high cost, and low accuracy for complicated tasks. To address these challenges, we design LLMDB, an LLM-enhanced data management paradigm which has generalizability and high inference ability while avoiding hallucination, reducing LLM cost, and achieving high accuracy. LLMDB embeds domain-specific knowledge to avoid hallucination by LLM fine-tuning and prompt engineering. LLMDB reduces the high cost of LLMs by vector databases which provide semantic search and caching abilities. LLMDB improves the task accuracy by LLM agent which provides multiple-round inference and pipeline executions. We showcase three real-world scenarios that LLMDB can well support, including query rewrite, database diagnosis and data analytics. We also summarize the open research challenges of LLMDB.

Cost-Effective In-Context Learning for Entity Resolution: A Design Space Exploration

Entity resolution (ER) is an important data integration task with a wide spectrum of applications. The state-of-the-art solutions on ER rely on pre-trained language models (PLMs), which require fine-tuning on a lot of labeled matching/non-matching entity pairs. Recently, large languages models (LLMs), such as GPT-4, have shown the ability to perform many tasks without tuning model parameters, which is known as in-context learning (ICL) that facilitates effective learning from a few labeled input context demonstrations. However, existing ICL approaches to ER typically necessitate providing a task description and a set of demonstrations for each entity pair and thus have limitations on the monetary cost of interfacing LLMs. To address the problem, in this paper, we provide a comprehensive study to investigate how to develop a cost-effective batch prompting approach to ER. We introduce a framework BATCHER consisting of demonstration selection and question batching and explore different design choices that support batch prompting for ER. We also devise a covering-based demonstration selection strategy that achieves an effective balance between matching accuracy and monetary cost. We conduct a thorough evaluation to explore the design space and evaluate our proposed strategies. Through extensive experiments, we find that batch prompting is very cost-effective for ER, compared with not only PLM-based methods fine-tuned with extensive labeled data but also LLM-based methods with manually designed prompting. We also provide guidance for selecting appropriate design choices for batch prompting.

D-Bot: Database Diagnosis System using Large Language Models

Database administrators (DBAs) play an important role in managing, maintaining and optimizing database systems. However, it is hard and tedious for DBAs to manage a large number of databases and give timely response (waiting for hours is intolerable in many online cases). In addition, existing empirical methods only support limited diagnosis scenarios, which are also labor-intensive to update the diagnosis rules for database version updates. Recently large language models (LLMs) have shown great potential in various fields. Thus, we propose D-Bot, an LLM-based database diagnosis system that can automatically acquire knowledge from diagnosis documents, and generate reasonable and well-founded diagnosis report (i.e., identifying the root causes and solutions) within acceptable time (e.g., under 10 minutes compared to hours by a DBA). The techniques in D-Bot include (i) offline knowledge extraction from documents, (ii) automatic prompt generation (e.g., knowledge matching, tool retrieval), (iii) root cause analysis using tree search algorithm, and (iv) collaborative mechanism for complex anomalies with multiple root causes. We verify D-Bot on real benchmarks (including 539 anomalies of six typical applications), and the results show that D-Bot can effectively analyze the root causes of unseen anomalies and significantly outperforms traditional methods and vanilla models like GPT-4.

Edge Accelerated Robot Navigation with Hierarchical Motion Planning

Low-cost autonomous robots suffer from limited onboard computing power, resulting in excessive computation time when navigating in cluttered environments. This paper presents Edge Accelerated Robot Navigation, or EARN for short, to achieve real-time collision avoidance by adopting hierarchical motion planning (HMP). In contrast to existing local or edge motion planning solutions that ignore the interdependency between low-level motion planning and high-level resource allocation, EARN adopts model predictive switching (MPS) that maximizes the expected switching gain w.r.t. robot states and actions under computation and communication resource constraints. As such, each robot can dynamically switch between a point-mass motion planner executed locally to guarantee safety (e.g., path-following) and a full-shape motion planner executed non-locally to guarantee efficiency (e.g., overtaking). The crux to EARN is a two-time scale integrated decision-planning algorithm based on bilevel mixed-integer optimization, and a fast conditional collision avoidance algorithm based on penalty dual decomposition. We validate the performance of EARN in indoor simulation, outdoor simulation, and real-world environments. Experiments show that EARN achieves significantly smaller navigation time and collision ratios than state-of-the-art navigation approaches.

CASTER: A Computer-Vision-Assisted Wireless Channel Simulator for Gesture Recognition

In this paper, a computer-vision-assisted simulation method is proposed to address the issue of training dataset acquisition for wireless hand gesture recognition. In the existing literature, in order to classify gestures via the wireless channel estimation, massive training samples should be measured in a consistent environment, consuming significant efforts. In the proposed CASTER simulator, however, the training dataset can be simulated via existing videos. Particularly, a gesture is represented by a sequence of snapshots, and the channel impulse response of each snapshot is calculated via tracing the rays scattered off a primitive-based hand model. Moreover, CASTER simulator relies on the existing videos to extract the motion data of gestures. Thus, the massive measurements of wireless channel can be eliminated. The experiments demonstrate a 90.8% average classification accuracy of simulation-to-reality inference.

SkyMath: Technical Report

Large language models (LLMs) have shown great potential to solve varieties of natural language processing (NLP) tasks, including mathematical reasoning. In this work, we present SkyMath, a large language model for mathematics with 13 billion parameters. By applying self-compare fine-tuning, we have enhanced mathematical reasoning abilities of Skywork-13B-Base remarkably. On GSM8K, SkyMath outperforms all known open-source models of similar size and has established a new SOTA performance.