This paper studies the problem of estimating physical properties (system identification) through visual observations. To facilitate geometry-aware guidance in physical property estimation, we introduce a novel hybrid framework that leverages 3D Gaussian representation to not only capture explicit shapes but also enable the simulated continuum to deduce implicit shapes during training. We propose a new dynamic 3D Gaussian framework based on motion factorization to recover the object as 3D Gaussian point sets across different time states. Furthermore, we develop a coarse-to-fine filling strategy to generate the density fields of the object from the Gaussian reconstruction, allowing for the extraction of object continuums along with their surfaces and the integration of Gaussian attributes into these continuums. In addition to the extracted object surfaces, the Gaussian-informed continuum also enables the rendering of object masks during simulations, serving as implicit shape guidance for physical property estimation. Extensive experimental evaluations demonstrate that our pipeline achieves state-of-the-art performance across multiple benchmarks and metrics. Additionally, we illustrate the effectiveness of the proposed method through real-world demonstrations, showcasing its practical utility.

With the rapid increase in model size and the growing importance of various fine-tuning applications, lightweight training has become crucial. Since the backward pass is twice as expensive as the forward pass, optimizing backpropagation is particularly important. However, modifications to this process can lead to suboptimal convergence, so training optimization should minimize perturbations, which is a highly challenging task. In this study, we introduce a novel optimization strategy called Hadamard Low-rank Quantization (HLQ), focusing on reducing the cost of backpropagation in convolutional and linear layers. We first analyze the sensitivity of gradient computation with respect to activation and weight, and judiciously design the HLQ pipeline to apply 4-bit Hadamard quantization to the activation gradient and Hadamard low-rank approximation to the weight gradient. This combination was found to be the best for maximizing benefits, and our extensive experiments demonstrate the outstanding performance of HLQ in both training from scratch and fine-tuning, achieving significant memory savings and acceleration on real GPUs with negligible quality degradation.

The neural moving horizon estimator (NMHE) is a relatively new and powerful state estimator that combines the strengths of neural networks (NNs) and model-based state estimation techniques. Various approaches exist for constructing NMHEs, each with its unique advantages and limitations. However, a comprehensive literature review that consolidates existing knowledge, outlines design guidelines and highlights future research directions is currently lacking. This systematic literature review synthesizes the existing knowledge on NMHE, addressing the above knowledge gap. The paper (1) explains the fundamental principles of NMHE, (2) explores different NMHE architectures, discussing the pros and cons of each, (3) investigates the NN architectures used in NMHE, providing insights for future designs, (4) examines the real-time implementability of current approaches, offering recommendations for practical applications, and (5) discusses the current limitations of NMHE approaches and outlines directions for future research. These insights can significantly improve the design and application of NMHE, which is critical for enhancing state estimation in complex systems.

This paper introduces a new multi-model predictive control (MMPC) method for quadrotor attitude control with performance nearly on par with nonlinear model predictive control (NMPC) and computational efficiency similar to linear model predictive control (LMPC). Conventional NMPC, while effective, is computationally intensive, especially for attitude control that needs a high refresh rate. Conversely, LMPC offers computational advantages but suffers from poor performance and local stability. Our approach relies on multiple linear models of attitude dynamics, each accompanied by a linear model predictive controller, dynamically switching between them given flight conditions. We leverage gap metric analysis to minimize the number of models required to accurately predict the vehicle behavior in various conditions and incorporate a soft switching mechanism to ensure system stability during controller transitions. Our results show that with just 15 models, the vehicle attitude can be accurately controlled across various set points. Comparative evaluations with existing controllers such as incremental nonlinear dynamic inversion, sliding mode control, LMPC, and NMPC reveal that our approach closely matches the effectiveness of NMPC, outperforming other methods, with a running time comparable to LMPC.

Modelling the propagation of electromagnetic signals is critical for designing modern communication systems. While there are precise simulators based on ray tracing, they do not lend themselves to solving inverse problems or the integration in an automated design loop. We propose to address these challenges through differentiable neural surrogates that exploit the geometric aspects of the problem. We first introduce the Wireless Geometric Algebra Transformer (Wi-GATr), a generic backbone architecture for simulating wireless propagation in a 3D environment. It uses versatile representations based on geometric algebra and is equivariant with respect to E(3), the symmetry group of the underlying physics. Second, we study two algorithmic approaches to signal prediction and inverse problems based on differentiable predictive modelling and diffusion models. We show how these let us predict received power, localize receivers, and reconstruct the 3D environment from the received signal. Finally, we introduce two large, geometry-focused datasets of wireless signal propagation in indoor scenes. In experiments, we show that our geometry-forward approach achieves higher-fidelity predictions with less data than various baselines.

Projecting sea-level change in various climate-change scenarios typically involves running forward simulations of the Earth's gravitational, rotational and deformational (GRD) response to ice mass change, which requires high computational cost and time. Here we build neural-network emulators of sea-level change at 27 coastal locations, due to the GRD effects associated with future Antarctic Ice Sheet mass change over the 21st century. The emulators are based on datasets produced using a numerical solver for the static sea-level equation and published ISMIP6-2100 ice-sheet model simulations referenced in the IPCC AR6 report. We show that the neural-network emulators have an accuracy that is competitive with baseline machine learning emulators. In order to quantify uncertainty, we derive well-calibrated prediction intervals for simulated sea-level change via a linear regression postprocessing technique that uses (nonlinear) machine learning model outputs, a technique that has previously been applied to numerical climate models. We also demonstrate substantial gains in computational efficiency: a feedforward neural-network emulator exhibits on the order of 100 times speedup in comparison to the numerical sea-level equation solver that is used for training.

In climate science, we often want to compare across different datasets. Difficulties can arise in doing this due to inevitable mismatches that arise between observational and reanalysis data, or even between different reanalyses. This misalignment can raise problems for any work that seeks to make inferences about one dataset from another. We considered tropical cyclone location as an example task with one dataset providing atmospheric conditions (ERA5) and another providing storm tracks (IBTrACS). We found that while the examples often aligned well, there were a considerable proportion (around 25%) which were not well aligned. We trained a neural network to map from the wind field to the storm location; in this setting misalignment in the datasets appears as "label noise" (i.e. the labelled storm location does not correspond to the underlying wind field). We found that this neural network trained only on the often noisy labels from IBTrACS had a denoising effect, and performed better than the IBTrACS labels themselves, as measured by human preferences. Remarkably, this even held true for training points, on which we might have expected the network to overfit to the IBTrACS predictions.

Federated learning (FL) is a viable technique to train a shared machine learning model without sharing data. Hierarchical FL (HFL) system has yet to be studied regrading its multiple levels of energy, computation, communication, and client scheduling, especially when it comes to clients relying on energy harvesting to power their operations. This paper presents a new two-phase deep deterministic policy gradient (DDPG) framework, referred to as ``TP-DDPG'', to balance online the learning delay and model accuracy of an FL process in an energy harvesting-powered HFL system. The key idea is that we divide optimization decisions into two groups, and employ DDPG to learn one group in the first phase, while interpreting the other group as part of the environment to provide rewards for training the DDPG in the second phase. Specifically, the DDPG learns the selection of participating clients, and their CPU configurations and the transmission powers. A new straggler-aware client association and bandwidth allocation (SCABA) algorithm efficiently optimizes the other decisions and evaluates the reward for the DDPG. Experiments demonstrate that with substantially reduced number of learnable parameters, the TP-DDPG can quickly converge to effective polices that can shorten the training time of HFL by 39.4% compared to its benchmarks, when the required test accuracy of HFL is 0.9.

Semantic Communication can transform the way we transmit information, prioritizing meaningful and effective content over individual symbols or bits. This evolution promises significant benefits, including reduced latency, lower bandwidth usage, and higher throughput compared to traditional communication. However, the development of Semantic Communication faces a crucial challenge: the need for universal metrics to benchmark the joint effects of semantic information loss and energy consumption. This research introduces an innovative solution: the ``Energy-Optimized Semantic Loss'' (EOSL) function, a novel multi-objective loss function that effectively balances semantic information loss and energy consumption. Through comprehensive experiments on transformer models, including energy benchmarking, we demonstrate the remarkable effectiveness of EOSL-based model selection. We have established that EOSL-based transformer model selection achieves up to 83\% better similarity-to-power ratio (SPR) compared to BLEU score-based selection and 67\% better SPR compared to solely lowest power usage-based selection. Furthermore, we extend the applicability of EOSL to diverse and varying contexts, inspired by the principles of Meta-Learning. By cumulatively applying EOSL, we enable the model selection system to adapt to this change, leveraging historical EOSL values to guide the learning process. This work lays the foundation for energy-efficient model selection and the development of green semantic communication.

Learning spatio-temporal patterns of polar ice layers is crucial for monitoring the change in ice sheet balance and evaluating ice dynamic processes. While a few researchers focus on learning ice layer patterns from echogram images captured by airborne snow radar sensors via different convolutional neural networks, the noise in the echogram images proves to be a major obstacle. Instead, we focus on geometric deep learning based on graph neural networks to learn the spatio-temporal patterns from thickness information of shallow ice layers and make predictions for deep layers. In this paper, we propose a physics-informed hybrid graph neural network that combines the GraphSAGE framework for graph feature learning with the long short-term memory (LSTM) structure for learning temporal changes, and introduce measurements of physical ice properties from Model Atmospheric Regional (MAR) weather model as physical node features. We found that our proposed network can consistently outperform the current non-inductive or non-physical model in predicting deep ice layer thickness.