Bayesian Generalized Kernel Inference for Exploration of Autonomous Robots

This paper concerns realizing highly efficient information-theoretic robot exploration with desired performance in complex scenes. We build a continuous lightweight inference model to predict the mutual information (MI) and the associated prediction confidence of the robot's candidate actions which have not been evaluated explicitly. This allows the decision-making stage in robot exploration to run with a logarithmic complexity approximately, this will also benefit online exploration in large unstructured, and cluttered places that need more spatial samples to assess and decide. We also develop an objective function to balance the local optimal action with the highest MI value and the global choice with high prediction variance. Extensive numerical and dataset simulations show the desired efficiency of our proposed method without losing exploration performance in different environments. We also provide our open-source implementation codes released on GitHub for the robot community.

An Instrumental Variable Approach to Confounded Off-Policy Evaluation

Off-policy evaluation (OPE) is a method for estimating the return of a target policy using some pre-collected observational data generated by a potentially different behavior policy. In some cases, there may be unmeasured variables that can confound the action-reward or action-next-state relationships, rendering many existing OPE approaches ineffective. This paper develops an instrumental variable (IV)-based method for consistent OPE in confounded Markov decision processes (MDPs). Similar to single-stage decision making, we show that IV enables us to correctly identify the target policy's value in infinite horizon settings as well. Furthermore, we propose an efficient and robust value estimator and illustrate its effectiveness through extensive simulations and analysis of real data from a world-leading short-video platform.

Quantile Off-Policy Evaluation via Deep Conditional Generative Learning

Off-Policy evaluation (OPE) is concerned with evaluating a new target policy using offline data generated by a potentially different behavior policy. It is critical in a number of sequential decision making problems ranging from healthcare to technology industries. Most of the work in existing literature is focused on evaluating the mean outcome of a given policy, and ignores the variability of the outcome. However, in a variety of applications, criteria other than the mean may be more sensible. For example, when the reward distribution is skewed and asymmetric, quantile-based metrics are often preferred for their robustness. In this paper, we propose a doubly-robust inference procedure for quantile OPE in sequential decision making and study its asymptotic properties. In particular, we propose utilizing state-of-the-art deep conditional generative learning methods to handle parameter-dependent nuisance function estimation. We demonstrate the advantages of this proposed estimator through both simulations and a real-world dataset from a short-video platform. In particular, we find that our proposed estimator outperforms classical OPE estimators for the mean in settings with heavy-tailed reward distributions.

Adaptive Control of Client Selection and Gradient Compression for Efficient Federated Learning

Federated learning (FL) allows multiple clients cooperatively train models without disclosing local data. However, the existing works fail to address all these practical concerns in FL: limited communication resources, dynamic network conditions and heterogeneous client properties, which slow down the convergence of FL. To tackle the above challenges, we propose a heterogeneity-aware FL framework, called FedCG, with adaptive client selection and gradient compression. Specifically, the parameter server (PS) selects a representative client subset considering statistical heterogeneity and sends the global model to them. After local training, these selected clients upload compressed model updates matching their capabilities to the PS for aggregation, which significantly alleviates the communication load and mitigates the straggler effect. We theoretically analyze the impact of both client selection and gradient compression on convergence performance. Guided by the derived convergence rate, we develop an iteration-based algorithm to jointly optimize client selection and compression ratio decision using submodular maximization and linear programming. Extensive experiments on both real-world prototypes and simulations show that FedCG can provide up to 5.3$\times$ speedup compared to other methods.

MOB-FL: Mobility-Aware Federated Learning for Intelligent Connected Vehicles

Federated learning (FL) is a promising approach to enable the future Internet of vehicles consisting of intelligent connected vehicles (ICVs) with powerful sensing, computing and communication capabilities. We consider a base station (BS) coordinating nearby ICVs to train a neural network in a collaborative yet distributed manner, in order to limit data traffic and privacy leakage. However, due to the mobility of vehicles, the connections between the BS and ICVs are short-lived, which affects the resource utilization of ICVs, and thus, the convergence speed of the training process. In this paper, we propose an accelerated FL-ICV framework, by optimizing the duration of each training round and the number of local iterations, for better convergence performance of FL. We propose a mobility-aware optimization algorithm called MOB-FL, which aims at maximizing the resource utilization of ICVs under short-lived wireless connections, so as to increase the convergence speed. Simulation results based on the beam selection and the trajectory prediction tasks verify the effectiveness of the proposed solution.

Improving Performance of Automatic Keyword Extraction (AKE) Methods Using PoS-Tagging and Enhanced Semantic-Awareness

Automatic keyword extraction (AKE) has gained more importance with the increasing amount of digital textual data that modern computing systems process. It has various applications in information retrieval (IR) and natural language processing (NLP), including text summarisation, topic analysis and document indexing. This paper proposes a simple but effective post-processing-based universal approach to improve the performance of any AKE methods, via an enhanced level of semantic-awareness supported by PoS-tagging. To demonstrate the performance of the proposed approach, we considered word types retrieved from a PoS-tagging step and two representative sources of semantic information -- specialised terms defined in one or more context-dependent thesauri, and named entities in Wikipedia. The above three steps can be simply added to the end of any AKE methods as part of a post-processor, which simply re-evaluate all candidate keywords following some context-specific and semantic-aware criteria. For five state-of-the-art (SOTA) AKE methods, our experimental results with 17 selected datasets showed that the proposed approach improved their performances both consistently (up to 100\% in terms of improved cases) and significantly (between 10.2\% and 53.8\%, with an average of 25.8\%, in terms of F1-score and across all five methods), especially when all the three enhancement steps are used. Our results have profound implications considering the ease to apply our proposed approach to any AKE methods and to further extend it.

ReAFFPN: Rotation-equivariant Attention Feature Fusion Pyramid Networks for Aerial Object Detection

This paper proposes a Rotation-equivariant Attention Feature Fusion Pyramid Networks for Aerial Object Detection named ReAFFPN. ReAFFPN aims at improving the effect of rotation-equivariant features fusion between adjacent layers which suffers from the semantic and scale discontinuity. Due to the particularity of rotational equivariant convolution, general methods are unable to achieve their original effect while ensuring rotation equivariance of the network. To solve this problem, we design a new Rotation-equivariant Channel Attention which has the ability to both generate channel attention and keep rotation equivariance. Then we embed a new channel attention function into Iterative Attentional Feature Fusion (iAFF) module to realize Rotation-equivariant Attention Feature Fusion. Experimental results demonstrate that ReAFFPN achieves a better rotation-equivariant feature fusion ability and significantly improve the accuracy of the Rotation-equivariant Convolutional Networks.

Tracing Semantic Variation in Slang

The meaning of a slang term can vary in different communities. However, slang semantic variation is not well understood and under-explored in the natural language processing of slang. One existing view argues that slang semantic variation is driven by culture-dependent communicative needs. An alternative view focuses on slang's social functions suggesting that the desire to foster semantic distinction may have led to the historical emergence of community-specific slang senses. We explore these theories using computational models and test them against historical slang dictionary entries, with a focus on characterizing regularity in the geographical variation of slang usages attested in the US and the UK over the past two centuries. We show that our models are able to predict the regional identity of emerging slang word meanings from historical slang records. We offer empirical evidence that both communicative need and semantic distinction play a role in the variation of slang meaning yet their relative importance fluctuates over the course of history. Our work offers an opportunity for incorporating historical cultural elements into the natural language processing of slang.

KGEA: A Knowledge Graph Enhanced Article Quality Identification Dataset

With so many articles of varying quality being produced at every moment, it is a very urgent task to screen this data for quality articles and commit them out to social media. It is worth noting that high quality articles have many characteristics, such as relevance, text quality, straightforward, multi-sided, background, novelty and sentiment. Thus, it would be inadequate to purely use the content of an article to identify its quality. Therefore, we plan to use the external knowledge interaction to refine the performance and propose a knowledge graph enhanced article quality identification dataset (KGEA) based on Baidu Encyclopedia. We quantified the articles through 7 dimensions and use co-occurrence of the entities between the articles and the Baidu encyclopedia to construct the knowledge graph for every article. We also compared some text classification baselines and found that external knowledge can guide the articles to a more competitive classification with the graph neural networks.

Crosslinguistic word order variation reflects evolutionary pressures of dependency and information locality

Languages vary considerably in syntactic structure. About 40% of the world's languages have subject-verb-object order, and about 40% have subject-object-verb order. Extensive work has sought to explain this word order variation across languages. However, the existing approaches are not able to explain coherently the frequency distribution and evolution of word order in individual languages. We propose that variation in word order reflects different ways of balancing competing pressures of dependency locality and information locality, whereby languages favor placing elements together when they are syntactically related or contextually informative about each other. Using data from 80 languages in 17 language families and phylogenetic modeling, we demonstrate that languages evolve to balance these pressures, such that word order change is accompanied by change in the frequency distribution of the syntactic structures which speakers communicate to maintain overall efficiency. Variability in word order thus reflects different ways in which languages resolve these evolutionary pressures. We identify relevant characteristics that result from this joint optimization, particularly the frequency with which subjects and objects are expressed together for the same verb. Our findings suggest that syntactic structure and usage across languages co-adapt to support efficient communication under limited cognitive resources.