Polynomial Time Near-Time-Optimal Multi-Robot Path Planning in Three Dimensions with Applications to Large-Scale UAV Coordination

For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional spaces, with provable $1.x$ asymptotic makespan optimality guarantee under high robot density. More precisely, on an $m_1\times m_2 \times m_3$ grid, $m_1\ge m_2\ge m_3$, our method computes solutions for routing up to $\frac{m_1m_2m_3}{3}$ uniquely labeled robots with uniformly randomly distributed start and goal configurations within a makespan of $m_1 + 2m_2 +2m_3+o(m_1)$, with high probability. Because the makespan lower bound for such instances is $m_1 + m_2+m_3 - o(m_1)$, also with high probability, as $m_1 \to \infty$, $\frac{m_1+2m_2+2m_3}{m_1+m_2+m_3}$ optimality guarantee is achieved. $\frac{m_1+2m_2+2m_3}{m_1+m_2+m_3} \in (1, \frac{5}{3}]$, yielding $1.x$ optimality. In contrast, it is well-known that multi-robot path planning is NP-hard to optimally solve. In numerical evaluations, our method readily scales to support the motion planning of over $100,000$ robots in 3D while simultaneously achieving $1.x$ optimality. We demonstrate the application of our method in coordinating many quadcopters in both simulation and hardware experiments.

Federated Learning with Diversified Preference for Humor Recognition

Understanding humor is critical to creative language modeling with many applications in human-AI interaction. However, due to differences in the cognitive systems of the audience, the perception of humor can be highly subjective. Thus, a given passage can be regarded as funny to different degrees by different readers. This makes training humorous text recognition models that can adapt to diverse humor preferences highly challenging. In this paper, we propose the FedHumor approach to recognize humorous text contents in a personalized manner through federated learning (FL). It is a federated BERT model capable of jointly considering the overall distribution of humor scores with humor labels by individuals for given texts. Extensive experiments demonstrate significant advantages of FedHumor in recognizing humor contents accurately for people with diverse humor preferences compared to 9 state-of-the-art humor recognition approaches.

Multi-Participant Multi-Class Vertical Federated Learning

Federated learning (FL) is a privacy-preserving paradigm for training collective machine learning models with locally stored data from multiple participants. Vertical federated learning (VFL) deals with the case where participants sharing the same sample ID space but having different feature spaces, while label information is owned by one participant. Current studies of VFL only support two participants, and mostly focus on binaryclass logistic regression problems. In this paper, we propose the Multi-participant Multi-class Vertical Federated Learning (MMVFL) framework for multi-class VFL problems involving multiple parties. Extending the idea of multi-view learning (MVL), MMVFL enables label sharing from its owner to other VFL participants in a privacypreserving manner. To demonstrate the effectiveness of MMVFL, a feature selection scheme is incorporated into MMVFL to compare its performance against supervised feature selection and MVL-based approaches. Experiment results on real-world datasets show that MMVFL can effectively share label information among multiple VFL participants and match multi-class classification performance of existing approaches.

Few-Shot Learning-Based Human Activity Recognition

Few-shot learning is a technique to learn a model with a very small amount of labeled training data by transferring knowledge from relevant tasks. In this paper, we propose a few-shot learning method for wearable sensor based human activity recognition, a technique that seeks high-level human activity knowledge from low-level sensor inputs. Due to the high costs to obtain human generated activity data and the ubiquitous similarities between activity modes, it can be more efficient to borrow information from existing activity recognition models than to collect more data to train a new model from scratch when only a few data are available for model training. The proposed few-shot human activity recognition method leverages a deep learning model for feature extraction and classification while knowledge transfer is performed in the manner of model parameter transfer. In order to alleviate negative transfer, we propose a metric to measure cross-domain class-wise relevance so that knowledge of higher relevance is assigned larger weights during knowledge transfer. Promising results in extensive experiments show the advantages of the proposed approach.

Autoencoder Based Sample Selection for Self-Taught Learning

Self-taught learning is a technique that uses a large number of unlabeled data as source samples to improve the task performance on target samples. Compared with other transfer learning techniques, self-taught learning can be applied to a broader set of scenarios due to the loose restrictions on source data. However, knowledge transferred from source samples that are not sufficiently related to the target domain may negatively influence the target learner, which is referred to as negative transfer. In this paper, we propose a metric for the relevance between a source sample and target samples. To be more specific, both source and target samples are reconstructed through a single-layer autoencoder with a linear relationship between source samples and target samples simultaneously enforced. An l_{2,1}-norm sparsity constraint is imposed on the transformation matrix to identify source samples relevant to the target domain. Source domain samples that are deemed relevant are assigned pseudo-labels reflecting their relevance to target domain samples, and are combined with target samples in order to provide an expanded training set for classifier training. Local data structures are also preserved during source sample selection through spectral graph analysis. Promising results in extensive experiments show the advantages of the proposed approach.

Graph Autoencoder-Based Unsupervised Feature Selection with Broad and Local Data Structure Preservation

Feature selection is a dimensionality reduction technique that selects a subset of representative features from high dimensional data by eliminating irrelevant and redundant features. Recently, feature selection combined with sparse learning has attracted significant attention due to its outstanding performance compared with traditional feature selection methods that ignores correlation between features. These works first map data onto a low-dimensional subspace and then select features by posing a sparsity constraint on the transformation matrix. However, they are restricted by design to linear data transformation, a potential drawback given that the underlying correlation structures of data are often non-linear. To leverage a more sophisticated embedding, we propose an autoencoder-based unsupervised feature selection approach that leverages a single-layer autoencoder for a joint framework of feature selection and manifold learning. More specifically, we enforce column sparsity on the weight matrix connecting the input layer and the hidden layer, as in previous work. Additionally, we include spectral graph analysis on the projected data into the learning process to achieve local data geometry preservation from the original data space to the low-dimensional feature space. Extensive experiments are conducted on image, audio, text, and biological data. The promising experimental results validate the superiority of the proposed method.

Semi-Supervised Endmember Identification In Nonlinear Spectral Mixtures Via Semantic Representation

This paper proposes a new hyperspectral unmixing method for nonlinearly mixed hyperspectral data using a semantic representation in a semi-supervised fashion, assuming the availability of a spectral reference library. Existing semi-supervised unmixing algorithms select members from an endmember library that are present at each of the pixels; most such methods assume a linear mixing model. However, those methods will fail in the presence of nonlinear mixing among the observed spectra. To address this issue, we develop an endmember selection method using a recently proposed semantic spectral representation obtained via non-homogeneous hidden Markov chain (NHMC) model for a wavelet transform of the spectra. The semantic representation can encode spectrally discriminative features for any observed spectrum and, therefore, our proposed method can perform endmember selection without any assumption on the mixing model. Experimental results show that in the presence of sufficiently nonlinear mixing our proposed method outperforms dictionary-based sparse unmixing approaches based on linear models.

Wavelet-Based Semantic Features for Hyperspectral Signature Discrimination

Hyperspectral signature classification is a quantitative analysis approach for hyperspectral imagery which performs detection and classification of the constituent materials at the pixel level in the scene. The classification procedure can be operated directly on hyperspectral data or performed by using some features extracted from the corresponding hyperspectral signatures containing information like the signature's energy or shape. In this paper, we describe a technique that applies non-homogeneous hidden Markov chain (NHMC) models to hyperspectral signature classification. The basic idea is to use statistical models (such as NHMC) to characterize wavelet coefficients which capture the spectrum semantics (i.e., structural information) at multiple levels. Experimental results show that the approach based on NHMC models can outperform existing approaches relevant in classification tasks.