Fine-tuning is the most effective way of adapting pre-trained large language models (LLMs) to downstream applications. With the fast growth of LLM-enabled AI applications and democratization of open-souced LLMs, fine-tuning has become possible for non-expert individuals, but intensively performed LLM fine-tuning worldwide could result in significantly high energy consumption and carbon footprint, which may bring large environmental impact. Mitigating such environmental impact towards Green AI directly correlates to reducing the FLOPs of fine-tuning, but existing techniques on efficient LLM fine-tuning can only achieve limited reduction of such FLOPs, due to their ignorance of the backpropagation cost in fine-tuning. To address this limitation, in this paper we present GreenTrainer, a new LLM fine-tuning technique that adaptively evaluates different tensors' backpropagation costs and contributions to the fine-tuned model accuracy, to minimize the fine-tuning cost by selecting the most appropriate set of tensors in training. Such selection in GreenTrainer is made based on a given objective of FLOPs reduction, which can flexibly adapt to the carbon footprint in energy supply and the need in Green AI. Experiment results over multiple open-sourced LLM models and abstractive summarization datasets show that, compared to fine-tuning the whole LLM model, GreenTrainer can save up to 64% FLOPs in fine-tuning without any noticeable model accuracy loss. Compared to the existing fine-tuning techniques such as LoRa, GreenTrainer can achieve up to 4% improvement on model accuracy with on-par FLOPs reduction.

The traditional machine learning models to solve optimal power flow (OPF) are mostly trained for a given power network and lack generalizability to today's power networks with varying topologies and growing plug-and-play distributed energy resources (DERs). In this paper, we propose DeepOPF-U, which uses one unified deep neural network (DNN) to solve alternating-current (AC) OPF problems in different power networks, including a set of power networks that is successively expanding. Specifically, we design elastic input and output layers for the vectors of given loads and OPF solutions with varying lengths in different networks. The proposed method, using a single unified DNN, can deal with different and growing numbers of buses, lines, loads, and DERs. Simulations of IEEE 57/118/300-bus test systems and a network growing from 73 to 118 buses verify the improved performance of DeepOPF-U compared to existing DNN-based solution methods.

Crowd simulation is important for video-games design, since it enables to populate virtual worlds with autonomous avatars that navigate in a human-like manner. Reinforcement learning has shown great potential in simulating virtual crowds, but the design of the reward function is critical to achieving effective and efficient results. In this work, we explore the design of reward functions for reinforcement learning-based crowd simulation. We provide theoretical insights on the validity of certain reward functions according to their analytical properties, and evaluate them empirically using a range of scenarios, using the energy efficiency as the metric. Our experiments show that directly minimizing the energy usage is a viable strategy as long as it is paired with an appropriately scaled guiding potential, and enable us to study the impact of the different reward components on the behavior of the simulated crowd. Our findings can inform the development of new crowd simulation techniques, and contribute to the wider study of human-like navigation.

Machine learning-based unfolding has enabled unbinned and high-dimensional differential cross section measurements. Two main approaches have emerged in this research area: one based on discriminative models and one based on generative models. The main advantage of discriminative models is that they learn a small correction to a starting simulation while generative models scale better to regions of phase space with little data. We propose to use Schroedinger Bridges and diffusion models to create SBUnfold, an unfolding approach that combines the strengths of both discriminative and generative models. The key feature of SBUnfold is that its generative model maps one set of events into another without having to go through a known probability density as is the case for normalizing flows and standard diffusion models. We show that SBUnfold achieves excellent performance compared to state of the art methods on a synthetic Z+jets dataset.

High temporal resolution data plays a vital role in effective short-term hydropower plant operations. In the majority of the Norwegian hydropower system, inflow data is predominantly collected at daily resolutions through measurement installations. However, for enhanced precision in managerial decision-making within hydropower plants, hydrological data with intraday resolutions, such as hourly data, are often indispensable. To address this gap, time series disaggregation utilizing deep learning emerges as a promising tool. In this study, we propose a deep learning-based time series disaggregation model to derive hourly inflow data from daily inflow data for short-term hydropower plant operations. Our preliminary results demonstrate the applicability of our method, with scope for further improvements.

Autonomous vehicles (AV) are expected to reshape future transportation systems, and decision-making is one of the critical modules toward high-level automated driving. To overcome those complicated scenarios that rule-based methods could not cope with well, data-driven decision-making approaches have aroused more and more focus. The datasets to be used in developing data-driven methods dramatically influences the performance of decision-making, hence it is necessary to have a comprehensive insight into the existing datasets. From the aspects of collection sources, driving data can be divided into vehicle, environment, and driver related data. This study compares the state-of-the-art datasets of these three categories and summarizes their features including sensors used, annotation, and driving scenarios. Based on the characteristics of the datasets, this survey also concludes the potential applications of datasets on various aspects of AV decision-making, assisting researchers to find appropriate ones to support their own research. The future trends of AV dataset development are summarized.

A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits designed for a quadrupedal robot suffering from a single, known "missing" limb. Preliminary data suggests that the featured gait controller successfully anchors a previously developed planar monopedal hopping template in the three-legged spatial machine. This compositional approach offers a useful and generalizable guide to the development of a wider range of tripedal recovery gaits for damaged quadrupedal machines.

Being able to harness the power of large datasets for developing cooperative multi-agent controllers promises to unlock enormous value for real-world applications. Many important industrial systems are multi-agent in nature and are difficult to model using bespoke simulators. However, in industry, distributed processes can often be recorded during operation, and large quantities of demonstrative data stored. Offline multi-agent reinforcement learning (MARL) provides a promising paradigm for building effective decentralised controllers from such datasets. However, offline MARL is still in its infancy and therefore lacks standardised benchmark datasets and baselines typically found in more mature subfields of reinforcement learning (RL). These deficiencies make it difficult for the community to sensibly measure progress. In this work, we aim to fill this gap by releasing off-the-grid MARL (OG-MARL): a growing repository of high-quality datasets with baselines for cooperative offline MARL research. Our datasets provide settings that are characteristic of real-world systems, including complex environment dynamics, heterogeneous agents, non-stationarity, many agents, partial observability, suboptimality, sparse rewards and demonstrated coordination. For each setting, we provide a range of different dataset types (e.g. Good, Medium, Poor, and Replay) and profile the composition of experiences for each dataset. We hope that OG-MARL will serve the community as a reliable source of datasets and help drive progress, while also providing an accessible entry point for researchers new to the field.

As the United Nations General Assembly gathered this week in New York, the U.N. Secretary-General's envoy on technology, Amandeep Gill, hosted an event titled Governing AI for Humanity, where participants discussed the risks that AI might pose and the challenges of achieving international cooperation on artificial intelligence. Secretary-General António Guterres and Gill have said they believe that a new U.N. agency will be required to help the world cooperate in managing this powerful technology. But the issues that the new entity would seek to address and its structure are yet to be determined, and some observers say that ambitious plans for global cooperation like this rarely get the required support of powerful nations. Gill has led efforts to make advanced forms of technology safer before. He was chair of the Group of Governmental Experts of the Convention on Certain Conventional Weapons when the Campaign to Stop Killer Robots, which sought to compel governments to outlaw the development of lethal autonomous weapons systems, failed to gain traction with global superpowers including the U.S. and Russia.

Deep Learning (DL) can diagnose faults and assess machine health from raw condition monitoring data without manually designed statistical features. However, practical manufacturing applications remain extremely difficult for existing DL methods. Machine data is often unlabeled and from very few health conditions (e.g., only normal operating data). Furthermore, models often encounter shifts in domain as process parameters change and new categories of faults emerge. Traditional supervised learning may struggle to learn compact, discriminative representations that generalize to these unseen target domains since it depends on having plentiful classes to partition the feature space with decision boundaries. Transfer Learning (TL) with domain adaptation attempts to adapt these models to unlabeled target domains but assumes similar underlying structure that may not be present if new faults emerge. This study proposes focusing on maximizing the feature generality on the source domain and applying TL via weight transfer to copy the model to the target domain. Specifically, Self-Supervised Learning (SSL) with Barlow Twins may produce more discriminative features for monitoring health condition than supervised learning by focusing on semantic properties of the data. Furthermore, Federated Learning (FL) for distributed training may also improve generalization by efficiently expanding the effective size and diversity of training data by sharing information across multiple client machines. Results show that Barlow Twins outperforms supervised learning in an unlabeled target domain with emerging motor faults when the source training data contains very few distinct categories. Incorporating FL may also provide a slight advantage by diffusing knowledge of health conditions between machines.