Federated Continual Learning (FCL) has emerged as a promising paradigm that combines Federated Learning (FL) and Continual Learning (CL). To achieve good model accuracy, FCL needs to tackle catastrophic forgetting due to concept drift over time in CL, and to overcome the potential interference among clients in FL. We propose Concept Matching (CM), a clustering-based framework for FCL to address these challenges. The CM framework groups the client models into concept model clusters, and then builds different global models to capture different concepts in FL over time. In each round, the server sends the global concept models to the clients. To avoid catastrophic forgetting, each client selects the concept model best-matching the concept of the current data for further fine-tuning. To avoid interference among client models with different concepts, the server clusters the models representing the same concept, aggregates the model weights in each cluster, and updates the global concept model with the cluster model of the same concept. Since the server does not know the concepts captured by the aggregated cluster models, we propose a novel server concept matching algorithm that effectively updates a global concept model with a matching cluster model. The CM framework provides flexibility to use different clustering, aggregation, and concept matching algorithms. The evaluation demonstrates that CM outperforms state-of-the-art systems and scales well with the number of clients and the model size.

Neural Architecture Search (NAS) has emerged as a favoured method for unearthing effective neural architectures. Recent development of large models has intensified the demand for faster search speeds and more accurate search results. However, designing large models by NAS is challenging due to the dramatical increase of search space and the associated huge performance evaluation cost. Consider a typical modular search space widely used in NAS, in which a neural architecture consists of $m$ block nodes and a block node has $n$ alternative blocks. Facing the space containing $n^m$ candidate networks, existing NAS methods attempt to find the best one by searching and evaluating candidate networks directly.Different from the general strategy that takes architecture search as a whole problem, we propose a novel divide-and-conquer strategy by making use of the modular nature of the search space.Here, we introduce MathNAS, a general NAS framework based on mathematical programming.In MathNAS, the performances of the $m*n$ possible building blocks in the search space are calculated first, and then the performance of a network is directly predicted based on the performances of its building blocks. Although estimating block performances involves network training, just as what happens for network performance evaluation in existing NAS methods, predicting network performance is completely training-free and thus extremely fast. In contrast to the $n^m$ candidate networks to evaluate in existing NAS methods, which require training and a formidable computational burden, there are only $m*n$ possible blocks to handle in MathNAS. Therefore, our approach effectively reduces the complexity of network performance evaluation.Our code is available at https://github.com/wangqinsi1/MathNAS.

Along with the springing up of the semantics-empowered communication (SemCom) research, it is now witnessing an unprecedentedly growing interest towards a wide range of aspects (e.g., theories, applications, metrics and implementations) in both academia and industry. In this work, we primarily aim to provide a comprehensive survey on both the background and research taxonomy, as well as a detailed technical tutorial. Specifically, we start by reviewing the literature and answering the "what" and "why" questions in semantic transmissions. Afterwards, we present the ecosystems of SemCom, including history, theories, metrics, datasets and toolkits, on top of which the taxonomy for research directions is presented. Furthermore, we propose to categorize the critical enabling techniques by explicit and implicit reasoning-based methods, and elaborate on how they evolve and contribute to modern content & channel semantics-empowered communications. Besides reviewing and summarizing the latest efforts in SemCom, we discuss the relations with other communication levels (e.g., conventional communications) from a holistic and unified viewpoint. Subsequently, in order to facilitate future developments and industrial applications, we also highlight advanced practical techniques for boosting semantic accuracy, robustness, and large-scale scalability, just to mention a few. Finally, we discuss the technical challenges that shed light on future research opportunities.

World models are a fundamental component in model-based reinforcement learning (MBRL). To perform temporally extended and consistent simulations of the future in partially observable environments, world models need to possess long-term memory. However, state-of-the-art MBRL agents, such as Dreamer, predominantly employ recurrent neural networks (RNNs) as their world model backbone, which have limited memory capacity. In this paper, we seek to explore alternative world model backbones for improving long-term memory. In particular, we investigate the effectiveness of Transformers and Structured State Space Sequence (S4) models, motivated by their remarkable ability to capture long-range dependencies in low-dimensional sequences and their complementary strengths. We propose S4WM, the first world model compatible with parallelizable SSMs including S4 and its variants. By incorporating latent variable modeling, S4WM can efficiently generate high-dimensional image sequences through latent imagination. Furthermore, we extensively compare RNN-, Transformer-, and S4-based world models across four sets of environments, which we have tailored to assess crucial memory capabilities of world models, including long-term imagination, context-dependent recall, reward prediction, and memory-based reasoning. Our findings demonstrate that S4WM outperforms Transformer-based world models in terms of long-term memory, while exhibiting greater efficiency during training and imagination. These results pave the way for the development of stronger MBRL agents.

We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses planning and execution capabilities, and poses challenges in perception, reasoning, manipulation, diagnostics, fault recovery, and goal parsing. RAMP has been designed to be accessible and extensible. Parts are either 3D printed or otherwise constructed from materials that are readily obtainable. The design of parts and detailed instructions are publicly available. In order to broaden community engagement, RAMP incorporates fixtures such as April Tags which enable researchers to focus on individual sub-tasks of the assembly challenge if desired. We provide a full digital twin as well as rudimentary baselines to enable rapid progress. Our vision is for RAMP to form the substrate for a community-driven endeavour that evolves as capability matures.

In the interest of interpreting neural NLI models and their reasoning strategies, we carry out a systematic probing study which investigates whether these models capture the crucial semantic features central to natural logic: monotonicity and concept inclusion. Correctly identifying valid inferences in downward-monotone contexts is a known stumbling block for NLI performance, subsuming linguistic phenomena such as negation scope and generalized quantifiers. To understand this difficulty, we emphasize monotonicity as a property of a context and examine the extent to which models capture monotonicity information in the contextual embeddings which are intermediate to their decision making process. Drawing on the recent advancement of the probing paradigm, we compare the presence of monotonicity features across various models. We find that monotonicity information is notably weak in the representations of popular NLI models which achieve high scores on benchmarks, and observe that previous improvements to these models based on fine-tuning strategies have introduced stronger monotonicity features together with their improved performance on challenge sets.

Semantic communication (SC) aims to communicate reliably with minimal data transfer while simultaneously providing seamless connectivity to heterogeneous services and users. In this paper, a novel emergent SC (ESC) system framework is proposed and is composed of a signaling game for emergent language design and a neuro-symbolic (NeSy) artificial intelligence (AI) approach for causal reasoning. In order to design the language, the signaling game is solved using an alternating maximization between the communicating node's utilities. The emergent language helps create a context-aware transmit vocabulary (minimal semantic representation) and aids the reasoning process (enabling generalization to unseen scenarios) by splitting complex messages into simpler reasoning tasks for the receiver. The causal description at the transmitter is then modeled (a neural component) as a posterior distribution of the relevant attributes present in the data. Using the reconstructed causal state, the receiver evaluates a set of logical formulas (symbolic part) to execute its task. The nodes NeSy reasoning components are implemented by the recently proposed AI tool called Generative Flow Networks, and they are optimized for higher semantic reliability. The ESC system is designed to enhance the novel metrics of semantic information, reliability, distortion and similarity that are designed using rigorous algebraic properties from category theory thereby generalizing the metrics beyond Shannon's notion of uncertainty. Simulation results validate the ability of ESC to communicate efficiently (with reduced bits) and achieve better semantic reliability than conventional wireless and state-of-the-art systems that do not exploit causal reasoning capabilities.

Language models have been shown to perform remarkably well on a wide range of natural language processing tasks. In this paper, we propose LEAP, a novel system that uses language models to perform multi-step logical reasoning and incorporates explicit planning into the inference procedure. Explicit planning enables the system to make more informed reasoning decisions at each step by looking ahead into their future effects. Moreover, we propose a training strategy that safeguards the planning process from being led astray by spurious features. Our full system significantly outperforms other competing methods on multiple standard datasets. When using small T5 models as its core selection and deduction components, our system performs competitively compared to GPT-3 despite having only about 1B parameters (i.e., 175 times smaller than GPT-3). When using GPT-3.5, it significantly outperforms chain-of-thought prompting on the challenging PrOntoQA dataset. We have conducted extensive empirical studies to demonstrate that explicit planning plays a crucial role in the system's performance.

Model-based RL is a promising approach for real-world robotics due to its improved sample efficiency and generalization capabilities compared to model-free RL. However, effective model-based RL solutions for vision-based real-world applications require bridging the sim-to-real gap for any world model learnt. Due to its significant computational cost, standard domain randomisation does not provide an effective solution to this problem. This paper proposes TWIST (Teacher-Student World Model Distillation for Sim-to-Real Transfer) to achieve efficient sim-to-real transfer of vision-based model-based RL using distillation. Specifically, TWIST leverages state observations as readily accessible, privileged information commonly garnered from a simulator to significantly accelerate sim-to-real transfer. Specifically, a teacher world model is trained efficiently on state information. At the same time, a matching dataset is collected of domain-randomised image observations. The teacher world model then supervises a student world model that takes the domain-randomised image observations as input. By distilling the learned latent dynamics model from the teacher to the student model, TWIST achieves efficient and effective sim-to-real transfer for vision-based model-based RL tasks. Experiments in simulated and real robotics tasks demonstrate that our approach outperforms naive domain randomisation and model-free methods in terms of sample efficiency and task performance of sim-to-real transfer.

Associative memories are devices storing information that can be fully retrieved given partial disclosure of it. We examine a toy model of associative memory and the ultimate limitations it is subjected to within the framework of general probabilistic theories (GPTs), which represent the most general class of physical theories satisfying some basic operational axioms. We ask ourselves how large the dimension of a GPT should be so that it can accommodate $2^m$ states with the property that any $N$ of them are perfectly distinguishable. Call $d(N,m)$ the minimal such dimension. Invoking an old result by Danzer and Gr\"unbaum, we prove that $d(2,m)=m+1$, to be compared with $O(2^m)$ when the GPT is required to be either classical or quantum. This yields an example of a task where GPTs outperform both classical and quantum theory exponentially. More generally, we resolve the case of fixed $N$ and asymptotically large $m$, proving that $d(N,m) \leq m^{1+o_N(1)}$ (as $m\to\infty$) for every $N\geq 2$, which yields again an exponential improvement over classical and quantum theories. Finally, we develop a numerical approach to the general problem of finding the largest $N$-wise mutually distinguishable set for a given GPT, which can be seen as an instance of the maximum clique problem on $N$-regular hypergraphs.