A Novel Indicator for Quantifying and Minimizing Information Utility Loss of Robot Teams

The timely exchange of information among robots within a team is vital, but it can be constrained by limited wireless capacity. The inability to deliver information promptly can result in estimation errors that impact collaborative efforts among robots. In this paper, we propose a new metric termed Loss of Information Utility (LoIU) to quantify the freshness and utility of information critical for cooperation. The metric enables robots to prioritize information transmissions within bandwidth constraints. We also propose the estimation of LoIU using belief distributions and accordingly optimize both transmission schedule and resource allocation strategy for device-to-device transmissions to minimize the time-average LoIU within a robot team. A semi-decentralized Multi-Agent Deep Deterministic Policy Gradient framework is developed, where each robot functions as an actor responsible for scheduling transmissions among its collaborators while a central critic periodically evaluates and refines the actors in response to mobility and interference. Simulations validate the effectiveness of our approach, demonstrating an enhancement of information freshness and utility by 98%, compared to alternative methods.

Convergence-Privacy-Fairness Trade-Off in Personalized Federated Learning

Personalized federated learning (PFL), e.g., the renowned Ditto, strikes a balance between personalization and generalization by conducting federated learning (FL) to guide personalized learning (PL). While FL is unaffected by personalized model training, in Ditto, PL depends on the outcome of the FL. However, the clients' concern about their privacy and consequent perturbation of their local models can affect the convergence and (performance) fairness of PL. This paper presents PFL, called DP-Ditto, which is a non-trivial extension of Ditto under the protection of differential privacy (DP), and analyzes the trade-off among its privacy guarantee, model convergence, and performance distribution fairness. We also analyze the convergence upper bound of the personalized models under DP-Ditto and derive the optimal number of global aggregations given a privacy budget. Further, we analyze the performance fairness of the personalized models, and reveal the feasibility of optimizing DP-Ditto jointly for convergence and fairness. Experiments validate our analysis and demonstrate that DP-Ditto can surpass the DP-perturbed versions of the state-of-the-art PFL models, such as FedAMP, pFedMe, APPLE, and FedALA, by over 32.71% in fairness and 9.66% in accuracy.

MMiC: Mitigating Modality Incompleteness in Clustered Federated Learning

In the era of big data, data mining has become indispensable for uncovering hidden patterns and insights from vast and complex datasets. The integration of multimodal data sources further enhances its potential. Multimodal Federated Learning (MFL) is a distributed approach that enhances the efficiency and quality of multimodal learning, ensuring collaborative work and privacy protection. However, missing modalities pose a significant challenge in MFL, often due to data quality issues or privacy policies across the clients. In this work, we present MMiC, a framework for Mitigating Modality incompleteness in MFL within the Clusters. MMiC replaces partial parameters within client models inside clusters to mitigate the impact of missing modalities. Furthermore, it leverages the Banzhaf Power Index to optimize client selection under these conditions. Finally, MMiC employs an innovative approach to dynamically control global aggregation by utilizing Markovitz Portfolio Optimization. Extensive experiments demonstrate that MMiC consistently outperforms existing federated learning architectures in both global and personalized performance on multimodal datasets with missing modalities, confirming the effectiveness of our proposed solution.

Electricity Cost Minimization for Multi-Workflow Allocation in Geo-Distributed Data Centers

Worldwide, Geo-distributed Data Centers (GDCs) provide computing and storage services for massive workflow applications, resulting in high electricity costs that vary depending on geographical locations and time. How to reduce electricity costs while satisfying the deadline constraints of workflow applications is important in GDCs, which is determined by the execution time of servers, power, and electricity price. Determining the completion time of workflows with different server frequencies can be challenging, especially in scenarios with heterogeneous computing resources in GDCs. Moreover, the electricity price is also different in geographical locations and may change dynamically. To address these challenges, we develop a geo-distributed system architecture and propose an Electricity Cost aware Multiple Workflows Scheduling algorithm (ECMWS) for servers of GDCs with fixed frequency and power. ECMWS comprises four stages, namely workflow sequencing, deadline partitioning, task sequencing, and resource allocation where two graph embedding models and a policy network are constructed to solve the Markov Decision Process (MDP). After statistically calibrating parameters and algorithm components over a comprehensive set of workflow instances, the proposed algorithms are compared with the state-of-the-art methods over two types of workflow instances. The experimental results demonstrate that our proposed algorithm significantly outperforms other algorithms, achieving an improvement of over 15\% while maintaining an acceptable computational time. The source codes are available at https://gitee.com/public-artifacts/ecmws-experiments.

ProgRoCC: A Progressive Approach to Rough Crowd Counting

As the number of individuals in a crowd grows, enumeration-based techniques become increasingly infeasible and their estimates increasingly unreliable. We propose instead an estimation-based version of the problem: we label Rough Crowd Counting that delivers better accuracy on the basis of training data that is easier to acquire. Rough crowd counting requires only rough annotations of the number of targets in an image, instead of the more traditional, and far more expensive, per-target annotations. We propose an approach to the rough crowd counting problem based on CLIP, termed ProgRoCC. Specifically, we introduce a progressive estimation learning strategy that determines the object count through a coarse-to-fine approach. This approach delivers answers quickly, outperforms the state-of-the-art in semi- and weakly-supervised crowd counting. In addition, we design a vision-language matching adapter that optimizes key-value pairs by mining effective matches of two modalities to refine the visual features, thereby improving the final performance. Extensive experimental results on three widely adopted crowd counting datasets demonstrate the effectiveness of our method.

Graph and Sequential Neural Networks in Session-based Recommendation: A Survey

Recent years have witnessed the remarkable success of recommendation systems (RSs) in alleviating the information overload problem. As a new paradigm of RSs, session-based recommendation (SR) specializes in users' short-term preference capture and aims to provide a more dynamic and timely recommendation based on the ongoing interacted actions. In this survey, we will give a comprehensive overview of the recent works on SR. First, we clarify the definitions of various SR tasks and introduce the characteristics of session-based recommendation against other recommendation tasks. Then, we summarize the existing methods in two categories: sequential neural network based methods and graph neural network (GNN) based methods. The standard frameworks and technical are also introduced. Finally, we discuss the challenges of SR and new research directions in this area.

Mitigating Noise Detriment in Differentially Private Federated Learning with Model Pre-training

Pre-training exploits public datasets to pre-train an advanced machine learning model, so that the model can be easily tuned to adapt to various downstream tasks. Pre-training has been extensively explored to mitigate computation and communication resource consumption. Inspired by these advantages, we are the first to explore how model pre-training can mitigate noise detriment in differentially private federated learning (DPFL). DPFL is upgraded from federated learning (FL), the de-facto standard for privacy preservation when training the model across multiple clients owning private data. DPFL introduces differentially private (DP) noises to obfuscate model gradients exposed in FL, which however can considerably impair model accuracy. In our work, we compare head fine-tuning (HT) and full fine-tuning (FT), which are based on pre-training, with scratch training (ST) in DPFL through a comprehensive empirical study. Our experiments tune pre-trained models (obtained by pre-training on ImageNet-1K) with CIFAR-10, CHMNIST and Fashion-MNIST (FMNIST) datasets, respectively. The results demonstrate that HT and FT can significantly mitigate noise influence by diminishing gradient exposure times. In particular, HT outperforms FT when the privacy budget is tight or the model size is large. Visualization and explanation study further substantiates our findings. Our pioneering study introduces a new perspective on enhancing DPFL and expanding its practical applications.

The Power of Bias: Optimizing Client Selection in Federated Learning with Heterogeneous Differential Privacy

To preserve the data privacy, the federated learning (FL) paradigm emerges in which clients only expose model gradients rather than original data for conducting model training. To enhance the protection of model gradients in FL, differentially private federated learning (DPFL) is proposed which incorporates differentially private (DP) noises to obfuscate gradients before they are exposed. Yet, an essential but largely overlooked problem in DPFL is the heterogeneity of clients' privacy requirement, which can vary significantly between clients and extremely complicates the client selection problem in DPFL. In other words, both the data quality and the influence of DP noises should be taken into account when selecting clients. To address this problem, we conduct convergence analysis of DPFL under heterogeneous privacy, a generic client selection strategy, popular DP mechanisms and convex loss. Based on convergence analysis, we formulate the client selection problem to minimize the value of loss function in DPFL with heterogeneous privacy, which is a convex optimization problem and can be solved efficiently. Accordingly, we propose the DPFL-BCS (biased client selection) algorithm. The extensive experiment results with real datasets under both convex and non-convex loss functions indicate that DPFL-BCS can remarkably improve model utility compared with the SOTA baselines.

Graph Neural Networks for Brain Graph Learning: A Survey

Exploring the complex structure of the human brain is crucial for understanding its functionality and diagnosing brain disorders. Thanks to advancements in neuroimaging technology, a novel approach has emerged that involves modeling the human brain as a graph-structured pattern, with different brain regions represented as nodes and the functional relationships among these regions as edges. Moreover, graph neural networks (GNNs) have demonstrated a significant advantage in mining graph-structured data. Developing GNNs to learn brain graph representations for brain disorder analysis has recently gained increasing attention. However, there is a lack of systematic survey work summarizing current research methods in this domain. In this paper, we aim to bridge this gap by reviewing brain graph learning works that utilize GNNs. We first introduce the process of brain graph modeling based on common neuroimaging data. Subsequently, we systematically categorize current works based on the type of brain graph generated and the targeted research problems. To make this research accessible to a broader range of interested researchers, we provide an overview of representative methods and commonly used datasets, along with their implementation sources. Finally, we present our insights on future research directions. The repository of this survey is available at \url{https://github.com/XuexiongLuoMQ/Awesome-Brain-Graph-Learning-with-GNNs}.

Modeling Pedestrian Intrinsic Uncertainty for Multimodal Stochastic Trajectory Prediction via Energy Plan Denoising

Pedestrian trajectory prediction plays a pivotal role in the realms of autonomous driving and smart cities. Despite extensive prior research employing sequence and generative models, the unpredictable nature of pedestrians, influenced by their social interactions and individual preferences, presents challenges marked by uncertainty and multimodality. In response, we propose the Energy Plan Denoising (EPD) model for stochastic trajectory prediction. EPD initially provides a coarse estimation of the distribution of future trajectories, termed the Plan, utilizing the Langevin Energy Model. Subsequently, it refines this estimation through denoising via the Probabilistic Diffusion Model. By initiating denoising with the Plan, EPD effectively reduces the need for iterative steps, thereby enhancing efficiency. Furthermore, EPD differs from conventional approaches by modeling the distribution of trajectories instead of individual trajectories. This allows for the explicit modeling of pedestrian intrinsic uncertainties and eliminates the need for multiple denoising operations. A single denoising operation produces a distribution from which multiple samples can be drawn, significantly enhancing efficiency. Moreover, EPD's fine-tuning of the Plan contributes to improved model performance. We validate EPD on two publicly available datasets, where it achieves state-of-the-art results. Additionally, ablation experiments underscore the contributions of individual modules, affirming the efficacy of the proposed approach.