ASAP-MPC: An Asynchronous Update Scheme for Online Motion Planning with Nonlinear Model Predictive Control

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based motion planning typically requires low computation times to be able to provide control inputs at the required rate for system stability, disturbance rejection, and overall performance. Although there exist various ways in literature to reduce the solution times in NMPC, such times may not be low enough to allow real-time implementations. This paper presents ASAP-MPC, an approach to handle varying, sometimes restrictively large, solution times with an asynchronous update scheme, always allowing for full convergence and real-time execution. The NMPC algorithm is combined with a linear state feedback controller tracking the optimised trajectories for improved robustness against possible disturbances and plant-model mismatch. ASAP-MPC seamlessly merges trajectories, resulting from subsequent NMPC solutions, providing a smooth and continuous overall trajectory for the motion system. This frameworks applicability to embedded applications is shown on two different experiment setups where a state-of-the-art method fails: a quadcopter flying through a cluttered environment in hardware-in-the-loop simulation and a scale model truck-trailer manoeuvring in a structured lab environment.

Investigating Consistency in Query-Based Meeting Summarization: A Comparative Study of Different Embedding Methods

With more and more advanced data analysis techniques emerging, people will expect these techniques to be applied in more complex tasks and solve problems in our daily lives. Text Summarization is one of famous applications in Natural Language Processing (NLP) field. It aims to automatically generate summary with important information based on a given context, which is important when you have to deal with piles of documents. Summarization techniques can help capture key points in a short time and bring convenience in works. One of applicable situation is meeting summarization, especially for important meeting that tend to be long, complicated, multi-topic and multi-person. Therefore, when people want to review specific content from a meeting, it will be hard and time-consuming to find the related spans in the meeting transcript. However, most of previous works focus on doing summarization for newsletters, scientific articles...etc, which have a clear document structure and an official format. For the documents with complex structure like transcripts, we think those works are not quite suitable for meeting summarization. Besides, the consistency of summary is another issue common to be discussed in NLP field. To conquer challenges of meeting summarization, we are inspired by "QMSum: A New Benchmark for Query-based Multi-domain Meeting Summarization" proposed by Microsoft and we also propose our Locater model designed to extract relevant spans based on given transcript and query, which are then summarized by Summarizer model. Furthermore, we perform a comparative study by applying different word embedding techniques to improve summary consistency.

Online Foundation Model Selection in Robotics

Foundation models have recently expanded into robotics after excelling in computer vision and natural language processing. The models are accessible in two ways: open-source or paid, closed-source options. Users with access to both face a problem when deciding between effective yet costly closed-source models and free but less powerful open-source alternatives. We call it the model selection problem. Existing supervised-learning methods are impractical due to the high cost of collecting extensive training data from closed-source models. Hence, we focus on the online learning setting where algorithms learn while collecting data, eliminating the need for large pre-collected datasets. We thus formulate a user-centric online model selection problem and propose a novel solution that combines an open-source encoder to output context and an online learning algorithm that processes this context. The encoder distills vast data distributions into low-dimensional features, i.e., the context, without additional training. The online learning algorithm aims to maximize a composite reward that includes model performance, execution time, and costs based on the context extracted from the data. It results in an improved trade-off between selecting open-source and closed-source models compared to non-contextual methods, as validated by our theoretical analysis. Experiments across language-based robotic tasks such as Waymo Open Dataset, ALFRED, and Open X-Embodiment demonstrate real-world applications of the solution. The results show that the solution significantly improves the task success rate by up to 14%.

PRDP: Proximal Reward Difference Prediction for Large-Scale Reward Finetuning of Diffusion Models

Reward finetuning has emerged as a promising approach to aligning foundation models with downstream objectives. Remarkable success has been achieved in the language domain by using reinforcement learning (RL) to maximize rewards that reflect human preference. However, in the vision domain, existing RL-based reward finetuning methods are limited by their instability in large-scale training, rendering them incapable of generalizing to complex, unseen prompts. In this paper, we propose Proximal Reward Difference Prediction (PRDP), enabling stable black-box reward finetuning for diffusion models for the first time on large-scale prompt datasets with over 100K prompts. Our key innovation is the Reward Difference Prediction (RDP) objective that has the same optimal solution as the RL objective while enjoying better training stability. Specifically, the RDP objective is a supervised regression objective that tasks the diffusion model with predicting the reward difference of generated image pairs from their denoising trajectories. We theoretically prove that the diffusion model that obtains perfect reward difference prediction is exactly the maximizer of the RL objective. We further develop an online algorithm with proximal updates to stably optimize the RDP objective. In experiments, we demonstrate that PRDP can match the reward maximization ability of well-established RL-based methods in small-scale training. Furthermore, through large-scale training on text prompts from the Human Preference Dataset v2 and the Pick-a-Pic v1 dataset, PRDP achieves superior generation quality on a diverse set of complex, unseen prompts whereas RL-based methods completely fail.

Dynastic Potential Crossover Operator

An optimal recombination operator for two parent solutions provides the best solution among those that take the value for each variable from one of the parents (gene transmission property). If the solutions are bit strings, the offspring of an optimal recombination operator is optimal in the smallest hyperplane containing the two parent solutions. Exploring this hyperplane is computationally costly, in general, requiring exponential time in the worst case. However, when the variable interaction graph of the objective function is sparse, exploration can be done in polynomial time. In this paper, we present a recombination operator, called Dynastic Potential Crossover (DPX), that runs in polynomial time and behaves like an optimal recombination operator for low-epistasis combinatorial problems. We compare this operator, both theoretically and experimentally, with traditional crossover operators, like uniform crossover and network crossover, and with two recently defined efficient recombination operators: partition crossover and articulation points partition crossover. The empirical comparison uses NKQ Landscapes and MAX-SAT instances. DPX outperforms the other crossover operators in terms of quality of the offspring and provides better results included in a trajectory and a population-based metaheuristic, but it requires more time and memory to compute the offspring.

Unsupervised learning based end-to-end delayless generative fixed-filter active noise control

Delayless noise control is achieved by our earlier generative fixed-filter active noise control (GFANC) framework through efficient coordination between the co-processor and real-time controller. However, the one-dimensional convolutional neural network (1D CNN) in the co-processor requires initial training using labelled noise datasets. Labelling noise data can be resource-intensive and may introduce some biases. In this paper, we propose an unsupervised-GFANC approach to simplify the 1D CNN training process and enhance its practicality. During training, the co-processor and real-time controller are integrated into an end-to-end differentiable ANC system. This enables us to use the accumulated squared error signal as the loss for training the 1D CNN. With this unsupervised learning paradigm, the unsupervised-GFANC method not only omits the labelling process but also exhibits better noise reduction performance compared to the supervised GFANC method in real noise experiments.

Predictive Churn with the Set of Good Models

Machine learning models in modern mass-market applications are often updated over time. One of the foremost challenges faced is that, despite increasing overall performance, these updates may flip specific model predictions in unpredictable ways. In practice, researchers quantify the number of unstable predictions between models pre and post update -- i.e., predictive churn. In this paper, we study this effect through the lens of predictive multiplicity -- i.e., the prevalence of conflicting predictions over the set of near-optimal models (the Rashomon set). We show how traditional measures of predictive multiplicity can be used to examine expected churn over this set of prospective models -- i.e., the set of models that may be used to replace a baseline model in deployment. We present theoretical results on the expected churn between models within the Rashomon set from different perspectives. And we characterize expected churn over model updates via the Rashomon set, pairing our analysis with empirical results on real-world datasets -- showing how our approach can be used to better anticipate, reduce, and avoid churn in consumer-facing applications. Further, we show that our approach is useful even for models enhanced with uncertainty awareness.

Discovery of Generalizable TBI Phenotypes Using Multivariate Time-Series Clustering

Traumatic Brain Injury (TBI) presents a broad spectrum of clinical presentations and outcomes due to its inherent heterogeneity, leading to diverse recovery trajectories and varied therapeutic responses. While many studies have delved into TBI phenotyping for distinct patient populations, identifying TBI phenotypes that consistently generalize across various settings and populations remains a critical research gap. Our research addresses this by employing multivariate time-series clustering to unveil TBI's dynamic intricates. Utilizing a self-supervised learning-based approach to clustering multivariate time-Series data with missing values (SLAC-Time), we analyzed both the research-centric TRACK-TBI and the real-world MIMIC-IV datasets. Remarkably, the optimal hyperparameters of SLAC-Time and the ideal number of clusters remained consistent across these datasets, underscoring SLAC-Time's stability across heterogeneous datasets. Our analysis revealed three generalizable TBI phenotypes ({\alpha}, \b{eta}, and {\gamma}), each exhibiting distinct non-temporal features during emergency department visits, and temporal feature profiles throughout ICU stays. Specifically, phenotype {\alpha} represents mild TBI with a remarkably consistent clinical presentation. In contrast, phenotype \b{eta} signifies severe TBI with diverse clinical manifestations, and phenotype {\gamma} represents a moderate TBI profile in terms of severity and clinical diversity. Age is a significant determinant of TBI outcomes, with older cohorts recording higher mortality rates. Importantly, while certain features varied by age, the core characteristics of TBI manifestations tied to each phenotype remain consistent across diverse populations.

MelNet: A Real-Time Deep Learning Algorithm for Object Detection

In this study, a novel deep learning algorithm for object detection, named MelNet, was introduced. MelNet underwent training utilizing the KITTI dataset for object detection. Following 300 training epochs, MelNet attained an mAP (mean average precision) score of 0.732. Additionally, three alternative models -YOLOv5, EfficientDet, and Faster-RCNN-MobileNetv3- were trained on the KITTI dataset and juxtaposed with MelNet for object detection. The outcomes underscore the efficacy of employing transfer learning in certain instances. Notably, preexisting models trained on prominent datasets (e.g., ImageNet, COCO, and Pascal VOC) yield superior results. Another finding underscores the viability of creating a new model tailored to a specific scenario and training it on a specific dataset. This investigation demonstrates that training MelNet exclusively on the KITTI dataset also surpasses EfficientDet after 150 epochs. Consequently, post-training, MelNet's performance closely aligns with that of other pre-trained models.

The SpongeNet Attack: Sponge Weight Poisoning of Deep Neural Networks

Sponge attacks aim to increase the energy consumption and computation time of neural networks deployed on hardware accelerators. Existing sponge attacks can be performed during inference via sponge examples or during training via Sponge Poisoning. Sponge examples leverage perturbations added to the model's input to increase energy and latency, while Sponge Poisoning alters the objective function of a model to induce inference-time energy/latency effects. In this work, we propose a novel sponge attack called SpongeNet. SpongeNet is the first sponge attack that is performed directly on the parameters of a pre-trained model. Our experiments show that SpongeNet can successfully increase the energy consumption of vision models with fewer samples required than Sponge Poisoning. Our experiments indicate that poisoning defenses are ineffective if not adjusted specifically for the defense against Sponge Poisoning (i.e., they decrease batch normalization bias values). Our work shows that SpongeNet is more effective on StarGAN than the state-of-the-art. Additionally, SpongeNet is stealthier than the previous Sponge Poisoning attack as it does not require significant changes in the victim model's weights. Our experiments indicate that the SpongeNet attack can be performed even when an attacker has access to only 1% of the entire dataset and reach up to 11% energy increase.