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.

Adaptive Federated LoRA in Heterogeneous Wireless Networks with Independent Sampling

Federated LoRA has emerged as a promising technique for efficiently fine-tuning large language models (LLMs) on distributed devices by reducing the number of trainable parameters. However, existing approaches often inadequately overlook the theoretical and practical implications of system and data heterogeneity, thereby failing to optimize the overall training efficiency, particularly in terms of wall-clock time. In this paper, we propose an adaptive federated LoRA strategy with independent client sampling to minimize the convergence wall-clock time of federated fine-tuning under both computation and communication heterogeneity. We first derive a new convergence bound for federated LoRA with arbitrary and independent client sampling, notably without requiring the stringent bounded gradient assumption. Then, we introduce an adaptive bandwidth allocation scheme that accounts for heterogeneous client resources and system bandwidth constraints. Based on the derived theory, we formulate and solve a non-convex optimization problem to jointly determine the LoRA sketching ratios and sampling probabilities, aiming to minimize wall-clock convergence time. An efficient and low-complexity algorithm is developed to approximate the solution. Finally, extensive experiments demonstrate that our approach significantly reduces wall-clock training time compared to state-of-the-art methods across various models and datasets.

Two Is Better Than One: Rotations Scale LoRAs

Scaling Low-Rank Adaptation (LoRA)-based Mixture-of-Experts (MoE) facilitates large language models (LLMs) to efficiently adapt to diverse tasks. However, traditional gating mechanisms that route inputs to the best experts may fundamentally hinder LLMs' scalability, leading to poor generalization and underfitting issues. We identify that the root cause lies in the restricted expressiveness of existing weighted-sum mechanisms, both within and outside the convex cone of LoRA representations. This motivates us to propose RadarGate, a novel geometrically inspired gating method that introduces rotational operations of LoRAs representations to boost the expressiveness and facilitate richer feature interactions among multiple LoRAs for scalable LLMs. Specifically, we first fuse each LoRA representation to other LoRAs using a learnable component and then feed the output to a rotation matrix. This matrix involves learnable parameters that define the relative angular relationship between LoRA representations. Such a simple yet effective mechanism provides an extra degree of freedom, facilitating the learning of cross-LoRA synergies and properly tracking the challenging poor generalization and underfitting issues as the number of LoRA grows. Extensive experiments on 6 public benchmarks across 21 tasks show the effectiveness of our RadarGate for scaling LoRAs. We also provide valuable insights, revealing that the rotations to each pair of representations are contrastive, encouraging closer alignment of semantically similar representations during geometrical transformation while pushing distance ones further apart. We will release our code to the community.

220 GHz RIS-Aided Multi-user Terahertz Communication System: Prototype Design and Over-the-Air Experimental Trials

Terahertz (THz) communication technology is regarded as a promising enabler for achieving ultra-high data rate transmission in next-generation communication systems. To mitigate the high path loss in THz systems, the transmitting beams are typically narrow and highly directional, which makes it difficult for a single beam to serve multiple users simultaneously. To address this challenge, reconfigurable intelligent surfaces (RIS), which can dynamically manipulate the wireless propagation environment, have been integrated into THz communication systems to extend coverage. Existing works mostly remain theoretical analysis and simulation, while prototype validation of RIS-assisted THz communication systems is scarce. In this paper, we designed a liquid crystal-based RIS operating at 220 GHz supporting both single-user and multi-user communication scenarios, followed by a RIS-aided THz communication system prototype. To enhance the system performance, we developed a beamforming method including a real-time power feedback control, which is compatible with both single-beam and multibeam modes. To support simultaneous multi-user transmission, we designed an OFDM-based resource allocation scheme. In our experiments, the received power gain with RIS is no less than 10 dB in the single-beam mode, and no less than 5 dB in the multi-beam mode. With the assistance of RIS, the achievable rate of the system could reach 2.341 Gbps with 3 users sharing 400 MHz bandwidth and the bit error rate (BER) of the system decreased sharply. Finally, an image transmission experiment was conducted to vividly show that the receiver could recover the transmitted information correctly with the help of RIS. The experimental results also demonstrated that the received signal quality was enhanced through power feedback adjustments.

On Performance of LoRa Fluid Antenna Systems

This paper advocates a fluid antenna system (FAS) assisting long-range communication (LoRa-FAS) for Internet-of-Things (IoT) applications. Our focus is on pilot sequence overhead and placement for FAS. Specifically, we consider embedding pilot sequences within symbols to reduce the equivalent symbol error rate (SER), leveraging the fact that the pilot sequences do not convey source information and correlation detection at the LoRa receiver needs not be performed across the entire symbol. We obtain closed-form approximations for the probability density function (PDF) and cumulative distribution function (CDF) of the FAS channel, assuming perfect channel state information (CSI). Moreover, the approximate SER, hence the bit error rate (BER), of the proposed LoRa-FAS is derived. Simulation results indicate that substantial SER gains can be achieved by FAS within the LoRa framework, even with a limited size of FAS. Furthermore, our analytical results align well with that of the Clarke's exact spatial correlation model. Finally, the correlation factor for the block correlation model should be selected as the proportion of the exact correlation matrix's eigenvalues greater than $1$.

Refining Positive and Toxic Samples for Dual Safety Self-Alignment of LLMs with Minimal Human Interventions

Recent AI agents, such as ChatGPT and LLaMA, primarily rely on instruction tuning and reinforcement learning to calibrate the output of large language models (LLMs) with human intentions, ensuring the outputs are harmless and helpful. Existing methods heavily depend on the manual annotation of high-quality positive samples, while contending with issues such as noisy labels and minimal distinctions between preferred and dispreferred response data. However, readily available toxic samples with clear safety distinctions are often filtered out, removing valuable negative references that could aid LLMs in safety alignment. In response, we propose PT-ALIGN, a novel safety self-alignment approach that minimizes human supervision by automatically refining positive and toxic samples and performing fine-grained dual instruction tuning. Positive samples are harmless responses, while toxic samples deliberately contain extremely harmful content, serving as a new supervisory signals. Specifically, we utilize LLM itself to iteratively generate and refine training instances by only exploring fewer than 50 human annotations. We then employ two losses, i.e., maximum likelihood estimation (MLE) and fine-grained unlikelihood training (UT), to jointly learn to enhance the LLM's safety. The MLE loss encourages an LLM to maximize the generation of harmless content based on positive samples. Conversely, the fine-grained UT loss guides the LLM to minimize the output of harmful words based on negative samples at the token-level, thereby guiding the model to decouple safety from effectiveness, directing it toward safer fine-tuning objectives, and increasing the likelihood of generating helpful and reliable content. Experiments on 9 popular open-source LLMs demonstrate the effectiveness of our PT-ALIGN for safety alignment, while maintaining comparable levels of helpfulness and usefulness.

Secure Semantic Communication With Homomorphic Encryption

In recent years, Semantic Communication (SemCom), which aims to achieve efficient and reliable transmission of meaning between agents, has garnered significant attention from both academia and industry. To ensure the security of communication systems, encryption techniques are employed to safeguard confidentiality and integrity. However, traditional cryptography-based encryption algorithms encounter obstacles when applied to SemCom. Motivated by this, this paper explores the feasibility of applying homomorphic encryption to SemCom. Initially, we review the encryption algorithms utilized in mobile communication systems and analyze the challenges associated with their application to SemCom. Subsequently, we employ scale-invariant feature transform to demonstrate that semantic features can be preserved in homomorphic encrypted ciphertext. Based on this finding, we propose a task-oriented SemCom scheme secured through homomorphic encryption. We design the privacy preserved deep joint source-channel coding (JSCC) encoder and decoder, and the frequency of key updates can be adjusted according to service requirements without compromising transmission performance. Simulation results validate that, when compared to plaintext images, the proposed scheme can achieve almost the same classification accuracy performance when dealing with homomorphic ciphertext images. Furthermore, we provide potential future research directions for homomorphic encrypted SemCom.

A Survey of Secure Semantic Communications

Semantic communication (SemCom) is regarded as a promising and revolutionary technology in 6G, aiming to transcend the constraints of ``Shannon's trap" by filtering out redundant information and extracting the core of effective data. Compared to traditional communication paradigms, SemCom offers several notable advantages, such as reducing the burden on data transmission, enhancing network management efficiency, and optimizing resource allocation. Numerous researchers have extensively explored SemCom from various perspectives, including network architecture, theoretical analysis, potential technologies, and future applications. However, as SemCom continues to evolve, a multitude of security and privacy concerns have arisen, posing threats to the confidentiality, integrity, and availability of SemCom systems. This paper presents a comprehensive survey of the technologies that can be utilized to secure SemCom. Firstly, we elaborate on the entire life cycle of SemCom, which includes the model training, model transfer, and semantic information transmission phases. Then, we identify the security and privacy issues that emerge during these three stages. Furthermore, we summarize the techniques available to mitigate these security and privacy threats, including data cleaning, robust learning, defensive strategies against backdoor attacks, adversarial training, differential privacy, cryptography, blockchain technology, model compression, and physical-layer security. Lastly, this paper outlines future research directions to guide researchers in related fields.

Overview of AI and Communication for 6G Network: Fundamentals, Challenges, and Future Research Opportunities

With the increasing demand for seamless connectivity and intelligent communication, the integration of artificial intelligence (AI) and communication for sixth-generation (6G) network is emerging as a revolutionary architecture. This paper presents a comprehensive overview of AI and communication for 6G networks, emphasizing their foundational principles, inherent challenges, and future research opportunities. We commence with a retrospective analysis of AI and the evolution of large-scale AI models, underscoring their pivotal roles in shaping contemporary communication technologies. The discourse then transitions to a detailed exposition of the envisioned integration of AI within 6G networks, delineated across three progressive developmental stages. The initial stage, AI for Network, focuses on employing AI to augment network performance, optimize efficiency, and enhance user service experiences. The subsequent stage, Network for AI, highlights the role of the network in facilitating and buttressing AI operations and presents key enabling technologies, including digital twins for AI and semantic communication. In the final stage, AI as a Service, it is anticipated that future 6G networks will innately provide AI functions as services and support application scenarios like immersive communication and intelligent industrial robots. Specifically, we have defined the quality of AI service, which refers to the measurement framework system of AI services within the network. In addition to these developmental stages, we thoroughly examine the standardization processes pertinent to AI in network contexts, highlighting key milestones and ongoing efforts. Finally, we outline promising future research opportunities that could drive the evolution and refinement of AI and communication for 6G, positioning them as a cornerstone of next-generation communication infrastructure.