From Data Creator to Data Reuser: Distance Matters

Sharing research data is complex, labor-intensive, expensive, and requires infrastructure investments by multiple stakeholders. Open science policies focus on data release rather than on data reuse, yet reuse is also difficult, expensive, and may never occur. Investments in data management could be made more wisely by considering who might reuse data, how, why, for what purposes, and when. Data creators cannot anticipate all possible reuses or reusers; our goal is to identify factors that may aid stakeholders in deciding how to invest in research data, how to identify potential reuses and reusers, and how to improve data exchange processes. Drawing upon empirical studies of data sharing and reuse, we develop the theoretical construct of distance between data creator and data reuser, identifying six distance dimensions that influence the ability to transfer knowledge effectively: domain, methods, collaboration, curation, purposes, and time and temporality. These dimensions are primarily social in character, with associated technical aspects that can decrease - or increase - distances between creators and reusers. We identify the order of expected influence on data reuse and ways in which the six dimensions are interdependent. Our theoretical framing of the distance between data creators and prospective reusers leads to recommendations to four categories of stakeholders on how to make data sharing and reuse more effective: data creators, data reusers, data archivists, and funding agencies.

Minimizing Regret in Billboard Advertisement under Zonal Influence Constraint

In a typical billboard advertisement technique, a number of digital billboards are owned by an influence provider, and many advertisers approach the influence provider for a specific number of views of their advertisement content on a payment basis. If the influence provider provides the demanded or more influence, then he will receive the full payment or else a partial payment. In the context of an influence provider, if he provides more or less than an advertiser's demanded influence, it is a loss for him. This is formalized as 'Regret', and naturally, in the context of the influence provider, the goal will be to allocate the billboard slots among the advertisers such that the total regret is minimized. In this paper, we study this problem as a discrete optimization problem and propose four solution approaches. The first one selects the billboard slots from the available ones in an incremental greedy manner, and we call this method the Budget Effective Greedy approach. In the second one, we introduce randomness with the first one, where we perform the marginal gain computation for a sample of randomly chosen billboard slots. The remaining two approaches are further improvements over the second one. We analyze all the algorithms to understand their time and space complexity. We implement them with real-life trajectory and billboard datasets and conduct a number of experiments. It has been observed that the randomized budget effective greedy approach takes reasonable computational time while minimizing the regret.

Neural Trajectory Model: Implicit Neural Trajectory Representation for Trajectories Generation

Trajectory planning is a fundamental problem in robotics. It facilitates a wide range of applications in navigation and motion planning, control, and multi-agent coordination. Trajectory planning is a difficult problem due to its computational complexity and real-world environment complexity with uncertainty, non-linearity, and real-time requirements. The multi-agent trajectory planning problem adds another dimension of difficulty due to inter-agent interaction. Existing solutions are either search-based or optimization-based approaches with simplified assumptions of environment, limited planning speed, and limited scalability in the number of agents. In this work, we make the first attempt to reformulate single agent and multi-agent trajectory planning problem as query problems over an implicit neural representation of trajectories. We formulate such implicit representation as Neural Trajectory Models (NTM) which can be queried to generate nearly optimal trajectory in complex environments. We conduct experiments in simulation environments and demonstrate that NTM can solve single-agent and multi-agent trajectory planning problems. In the experiments, NTMs achieve (1) sub-millisecond panning time using GPUs, (2) almost avoiding all environment collision, (3) almost avoiding all inter-agent collision, and (4) generating almost shortest paths. We also demonstrate that the same NTM framework can also be used for trajectories correction and multi-trajectory conflict resolution refining low quality and conflicting multi-agent trajectories into nearly optimal solutions efficiently. (Open source code will be available at https://github.com/laser2099/neural-trajectory-model)

Riemannian Preconditioned LoRA for Fine-Tuning Foundation Models

In this work we study the enhancement of Low Rank Adaptation (LoRA) fine-tuning procedure by introducing a Riemannian preconditioner in its optimization step. Specifically, we introduce an $r\times r$ preconditioner in each gradient step where $r$ is the LoRA rank. This preconditioner requires a small change to existing optimizer code and creates virtually minuscule storage and runtime overhead. Our experimental results with both large language models and text-to-image diffusion models show that with our preconditioner, the convergence and reliability of SGD and AdamW can be significantly enhanced. Moreover, the training process becomes much more robust to hyperparameter choices such as learning rate. Theoretically, we show that fine-tuning a two-layer ReLU network in the convex paramaterization with our preconditioner has convergence rate independent of condition number of the data matrix. This new Riemannian preconditioner, previously explored in classic low-rank matrix recovery, is introduced to deep learning tasks for the first time in our work. We release our code at https://github.com/pilancilab/Riemannian_Preconditioned_LoRA.

Visibility into AI Agents

Increased delegation of commercial, scientific, governmental, and personal activities to AI agents -- systems capable of pursuing complex goals with limited supervision -- may exacerbate existing societal risks and introduce new risks. Understanding and mitigating these risks involves critically evaluating existing governance structures, revising and adapting these structures where needed, and ensuring accountability of key stakeholders. Information about where, why, how, and by whom certain AI agents are used, which we refer to as visibility, is critical to these objectives. In this paper, we assess three categories of measures to increase visibility into AI agents: agent identifiers, real-time monitoring, and activity logging. For each, we outline potential implementations that vary in intrusiveness and informativeness. We analyze how the measures apply across a spectrum of centralized through decentralized deployment contexts, accounting for various actors in the supply chain including hardware and software service providers. Finally, we discuss the implications of our measures for privacy and concentration of power. Further work into understanding the measures and mitigating their negative impacts can help to build a foundation for the governance of AI agents.

EasyFS: an Efficient Model-free Feature Selection Framework via Elastic Transformation of Features

Traditional model-free feature selection methods treat each feature independently while disregarding the interrelationships among features, which leads to relatively poor performance compared with the model-aware methods. To address this challenge, we propose an efficient model-free feature selection framework via elastic expansion and compression of the features, namely EasyFS, to achieve better performance than state-of-the-art model-aware methods while sharing the characters of efficiency and flexibility with the existing model-free methods. In particular, EasyFS expands the feature space by using the random non-linear projection network to achieve the non-linear combinations of the original features, so as to model the interrelationships among the features and discover most correlated features. Meanwhile, a novel redundancy measurement based on the change of coding rate is proposed for efficient filtering of redundant features. Comprehensive experiments on 21 different datasets show that EasyFS outperforms state-of-the art methods up to 10.9\% in the regression tasks and 5.7\% in the classification tasks while saving more than 94\% of the time.

Towards Model Predictive Control for Acrobatic Quadrotor Flights

This study explores modeling and control for quadrotor acrobatics, focusing on executing flip maneuvers. Flips are an elegant way to deliver sensor probes into no-fly or hazardous zones, like volcanic vents. Successful flips require feasible trajectories and precise control, influenced by rotor dynamics, thrust allocation, and control methodologies. The research introduces a novel approach using Model Predictive Control (MPC) for real-time trajectory planning. The MPC considers dynamic constraints and environmental variables, ensuring system stability during maneuvers. The proposed methodology's effectiveness is examined through simulation studies in ROS and Gazebo, providing insights into quadrotor behavior, response time, and trajectory accuracy. Real-time flight experiments on a custom agile quadrotor using PixHawk 4 and Hardkernel Odroid validate MPC-designed controllers. Experiments confirm successful execution and adaptability to real-world scenarios. Outcomes contribute to autonomous aerial robotics, especially aerial acrobatics, enhancing mission capabilities. MPC controllers find applications in probe throws and optimal image capture views through efficient flight paths, e.g., full roll maneuvers. This research paves the way for quadrotors in demanding scenarios, showcasing groundbreaking applications. Video Link: \url{ https://www.youtube.com/watch?v=UzR0PWjy9W4}

Accelerated Distributed Allocation

Distributed allocation finds applications in many scenarios including CPU scheduling, distributed energy resource management, and networked coverage control. In this paper, we propose a fast convergent optimization algorithm with a tunable rate using the signum function. The convergence rate of the proposed algorithm can be managed by changing two parameters. We prove convergence over uniformly-connected multi-agent networks. Therefore, the solution converges even if the network loses connectivity at some finite time intervals. The proposed algorithm is all-time feasible, implying that at any termination time of the algorithm, the resource-demand feasibility holds. This is in contrast to asymptotic feasibility in many dual formulation solutions (e.g., ADMM) that meet resource-demand feasibility over time and asymptotically.

COA-GPT: Generative Pre-trained Transformers for Accelerated Course of Action Development in Military Operations

The development of Courses of Action (COAs) in military operations is traditionally a time-consuming and intricate process. Addressing this challenge, this study introduces COA-GPT, a novel algorithm employing Large Language Models (LLMs) for rapid and efficient generation of valid COAs. COA-GPT incorporates military doctrine and domain expertise to LLMs through in-context learning, allowing commanders to input mission information - in both text and image formats - and receive strategically aligned COAs for review and approval. Uniquely, COA-GPT not only accelerates COA development, producing initial COAs within seconds, but also facilitates real-time refinement based on commander feedback. This work evaluates COA-GPT in a military-relevant scenario within a militarized version of the StarCraft II game, comparing its performance against state-of-the-art reinforcement learning algorithms. Our results demonstrate COA-GPT's superiority in generating strategically sound COAs more swiftly, with added benefits of enhanced adaptability and alignment with commander intentions. COA-GPT's capability to rapidly adapt and update COAs during missions presents a transformative potential for military planning, particularly in addressing planning discrepancies and capitalizing on emergent windows of opportunities.

Evolution Guided Generative Flow Networks

Generative Flow Networks (GFlowNets) are a family of probabilistic generative models that learn to sample compositional objects proportional to their rewards. One big challenge of GFlowNets is training them effectively when dealing with long time horizons and sparse rewards. To address this, we propose Evolution guided generative flow networks (EGFN), a simple but powerful augmentation to the GFlowNets training using Evolutionary algorithms (EA). Our method can work on top of any GFlowNets training objective, by training a set of agent parameters using EA, storing the resulting trajectories in the prioritized replay buffer, and training the GFlowNets agent using the stored trajectories. We present a thorough investigation over a wide range of toy and real-world benchmark tasks showing the effectiveness of our method in handling long trajectories and sparse rewards.