Federated Learning (FL) has emerged as a promising solution in Edge Computing (EC) environments to process the proliferation of data generated by edge devices. By collaboratively optimizing the global machine learning models on distributed edge devices, FL circumvents the need for transmitting raw data and enhances user privacy. Despite practical successes, FL still confronts significant challenges including constrained edge device resources, multiple tasks deployment, and data heterogeneity. However, existing studies focus on mitigating the FL training costs of each single task whereas neglecting the resource consumption across multiple tasks in heterogeneous FL scenarios. In this paper, we propose Heterogeneous Federated Learning with Local Parameter Sharing (FedLPS) to fill this gap. FedLPS leverages principles from transfer learning to facilitate the deployment of multiple tasks on a single device by dividing the local model into a shareable encoder and task-specific encoders. To further reduce resource consumption, a channel-wise model pruning algorithm that shrinks the footprint of local models while accounting for both data and system heterogeneity is employed in FedLPS. Additionally, a novel heterogeneous model aggregation algorithm is proposed to aggregate the heterogeneous predictors in FedLPS. We implemented the proposed FedLPS on a real FL platform and compared it with state-of-the-art (SOTA) FL frameworks. The experimental results on five popular datasets and two modern DNN models illustrate that the proposed FedLPS significantly outperforms the SOTA FL frameworks by up to 4.88% and reduces the computational resource consumption by 21.3%. Our code is available at:https://github.com/jyzgh/FedLPS.

Multi-robot systems must have the ability to accurately estimate relative states between robots in order to perform collaborative tasks, possibly with no external aiding. Three-dimensional relative pose estimation using range measurements oftentimes suffers from a finite number of non-unique solutions, or ambiguities. This paper: 1) identifies and accurately estimates all possible ambiguities in 2D; 2) treats them as components of a Gaussian mixture model; and 3) presents a computationally-efficient estimator, in the form of a Gaussian-sum filter (GSF), to realize range-based relative pose estimation in an infrastructure-free, 3D, setup. This estimator is evaluated in simulation and experiment and is shown to avoid divergence to local minima induced by the ambiguous poses. Furthermore, the proposed GSF outperforms an extended Kalman filter, demonstrates similar performance to the computationally-demanding particle filter, and is shown to be consistent.

Most of the intrusion detection datasets to research machine learning-based intrusion detection systems (IDSs) are devoted to cyber-only systems, and they typically collect data from one architectural layer. Additionally, often the attacks are generated in dedicated attack sessions, without reproducing the realistic alternation and overlap of normal and attack actions. We present a dataset for intrusion detection by performing penetration testing on an embedded cyber-physical system built over Robot Operating System 2 (ROS2). Features are monitored from three architectural layers: the Linux operating system, the network, and the ROS2 services. The dataset is structured as a time series and describes the expected behavior of the system and its response to ROS2-specific attacks: it repeatedly alternates periods of attack-free operation with periods when a specific attack is being performed. Noteworthy, this allows measuring the time to detect an attacker and the number of malicious activities performed before detection. Also, it allows training an intrusion detector to minimize both, by taking advantage of the numerous alternating periods of normal and attack operations.

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore the compositionality of complex tasks, and present a novel skill-based imitation learning framework enabling one-shot imitation and zero-shot adaptation; from a single demonstration for a complex unseen task, a semantic skill sequence is inferred and then each skill in the sequence is converted into an action sequence optimized for environmental hidden dynamics that can vary over time. Specifically, we leverage a vision-language model to learn a semantic skill set from offline video datasets, where each skill is represented on the vision-language embedding space, and adapt meta-learning with dynamics inference to enable zero-shot skill adaptation. We evaluate our framework with various one-shot imitation scenarios for extended multi-stage Meta-world tasks, showing its superiority in learning complex tasks, generalizing to dynamics changes, and extending to different demonstration conditions and modalities, compared to other baselines.

Large Multimodal Models (LMMs) excel in natural language and visual understanding but are challenged by exacting tasks such as Knowledge-based Visual Question Answering (KB-VQA) which involve the retrieval of relevant information from document collections to use in shaping answers to questions. We present an extensive training and evaluation framework, M2KR, for KB-VQA. M2KR contains a collection of vision and language tasks which we have incorporated into a single suite of benchmark tasks for training and evaluating general-purpose multi-modal retrievers. We use M2KR to develop PreFLMR, a pre-trained version of the recently developed Fine-grained Late-interaction Multi-modal Retriever (FLMR) approach to KB-VQA, and we report new state-of-the-art results across a range of tasks. We also present investigations into the scaling behaviors of PreFLMR intended to be useful in future developments in general-purpose multi-modal retrievers.

Continual learning is the sequential learning of different tasks by a machine learning model. Continual learning is known to be hindered by catastrophic interference or forgetting, i.e. rapid unlearning of earlier learned tasks when new tasks are learned. Despite their practical success, artificial neural networks (ANNs) are prone to catastrophic interference. This study analyses how gradient descent and overlapping representations between distant input points lead to distal interference and catastrophic interference. Distal interference refers to the phenomenon where training a model on a subset of the domain leads to non-local changes on other subsets of the domain. This study shows that uniformly trainable models without distal interference must be exponentially large. A novel antisymmetric bounded exponential layer B-spline ANN architecture named ABEL-Spline is proposed that can approximate any continuous function, is uniformly trainable, has polynomial computational complexity, and provides some guarantees for distal interference. Experiments are presented to demonstrate the theoretical properties of ABEL-Splines. ABEL-Splines are also evaluated on benchmark regression problems. It is concluded that the weaker distal interference guarantees in ABEL-Splines are insufficient for model-only continual learning. It is conjectured that continual learning with polynomial complexity models requires augmentation of the training data or algorithm.

Artificial intelligence (AI) systems have the potential to revolutionize clinical practices, including improving diagnostic accuracy and surgical decision-making, while also reducing costs and manpower. However, it is important to recognize that these systems may perpetuate social inequities or demonstrate biases, such as those based on race or gender. Such biases can occur before, during, or after the development of AI models, making it critical to understand and address potential biases to enable the accurate and reliable application of AI models in clinical settings. To mitigate bias concerns during model development, we surveyed recent publications on different debiasing methods in the fields of biomedical natural language processing (NLP) or computer vision (CV). Then we discussed the methods that have been applied in the biomedical domain to address bias. We performed our literature search on PubMed, ACM digital library, and IEEE Xplore of relevant articles published between January 2018 and December 2023 using multiple combinations of keywords. We then filtered the result of 10,041 articles automatically with loose constraints, and manually inspected the abstracts of the remaining 890 articles to identify the 55 articles included in this review. Additional articles in the references are also included in this review. We discuss each method and compare its strengths and weaknesses. Finally, we review other potential methods from the general domain that could be applied to biomedicine to address bias and improve fairness.The bias of AIs in biomedicine can originate from multiple sources. Existing debiasing methods that focus on algorithms can be categorized into distributional or algorithmic.

Machine Learning (ML) and 'Artificial Intelligence' ('AI') methods tend to replicate and amplify existing biases and prejudices, as do Robots with AI. For example, robots with facial recognition have failed to identify Black Women as human, while others have categorized people, such as Black Men, as criminals based on appearance alone. A 'culture of modularity' means harms are perceived as 'out of scope', or someone else's responsibility, throughout employment positions in the 'AI supply chain'. Incidents are routine enough (incidentdatabase.ai lists over 2000 examples) to indicate that few organizations are capable of completely respecting peoples' rights; meeting claimed equity, diversity, and inclusion (EDI or DEI) goals; or recognizing and then addressing such failures in their organizations and artifacts. We propose a framework for adapting widely practiced Research and Development (R&D) project management methodologies to build organizational equity capabilities and better integrate known evidence-based best practices. We describe how project teams can organize and operationalize the most promising practices, skill sets, organizational cultures, and methods to detect and address rights-based fairness, equity, accountability, and ethical problems as early as possible when they are often less harmful and easier to mitigate; then monitor for unforeseen incidents to adaptively and constructively address them. Our primary example adapts an Agile development process based on Scrum, one of the most widely adopted approaches to organizing R&D teams. We also discuss limitations of our proposed framework and future research directions.

Modern machine learning usually involves predictors in the overparametrised setting (number of trained parameters greater than dataset size), and their training yield not only good performances on training data, but also good generalisation capacity. This phenomenon challenges many theoretical results, and remains an open problem. To reach a better understanding, we provide novel generalisation bounds involving gradient terms. To do so, we combine the PAC-Bayes toolbox with Poincar\'e and Log-Sobolev inequalities, avoiding an explicit dependency on dimension of the predictor space. Our results highlight the positive influence of \emph{flat minima} (being minima with a neighbourhood nearly minimising the learning problem as well) on generalisation performances, involving directly the benefits of the optimisation phase.

Research into large-scale crop monitoring has flourished due to increased accessibility to satellite imagery. This review delves into previously unexplored and under-explored areas in sugarcane health monitoring and disease/pest detection using satellite-based spectroscopy and Machine Learning (ML). It discusses key considerations in system development, including relevant satellites, vegetation indices, ML methods, factors influencing sugarcane reflectance, optimal growth conditions, common diseases, and traditional detection methods. Many studies highlight how factors like crop age, soil type, viewing angle, water content, recent weather patterns, and sugarcane variety can impact spectral reflectance, affecting the accuracy of health assessments via spectroscopy. However, these variables have not been fully considered in the literature. In addition, the current literature lacks comprehensive comparisons between ML techniques and vegetation indices. We address these gaps in this review. We discuss that, while current findings suggest the potential for an ML-driven satellite spectroscopy system for monitoring sugarcane health, further research is essential. This paper offers a comprehensive analysis of previous research to aid in unlocking this potential and advancing the development of an effective sugarcane health monitoring system using satellite technology.