Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have shown impressive results in a number of settings, they are challenging to generalize and adapt to new environments. Here, we present a fully learning-based approach for real-world humanoid locomotion. Our controller is a causal transformer that takes the history of proprioceptive observations and actions as input and predicts the next action. We hypothesize that the observation-action history contains useful information about the world that a powerful transformer model can use to adapt its behavior in-context, without updating its weights. We train our model with large-scale model-free reinforcement learning on an ensemble of randomized environments in simulation and deploy it to the real world zero-shot. Our controller can walk over various outdoor terrains, is robust to external disturbances, and can adapt in context.

By approximating posterior distributions with weighted samples, particle filters (PFs) provide an efficient mechanism for solving non-linear sequential state estimation problems. While the effectiveness of particle filters has been recognised in various applications, their performance relies on the knowledge of dynamic models and measurement models, as well as the construction of effective proposal distributions. An emerging trend involves constructing components of particle filters using neural networks and optimising them by gradient descent, and such data-adaptive particle filtering approaches are often called differentiable particle filters. Due to the expressiveness of neural networks, differentiable particle filters are a promising computational tool for performing inference on sequential data in complex, high-dimensional tasks, such as vision-based robot localisation. In this paper, we review recent advances in differentiable particle filters and their applications. We place special emphasis on different design choices for key components of differentiable particle filters, including dynamic models, measurement models, proposal distributions, optimisation objectives, and differentiable resampling techniques.

Real-time monitoring of human behaviours, especially in e-Health applications, has been an active area of research in the past decades. On top of IoT-based sensing environments, anomaly detection algorithms have been proposed for the early detection of abnormalities. Gradual change procedures, commonly referred to as drift anomalies, have received much less attention in the literature because they represent a much more challenging scenario than sudden temporary changes (point anomalies). In this paper, we propose, for the first time, a fully unsupervised real-time drift detection algorithm named DynAmo, which can identify drift periods as they are happening. DynAmo comprises a dynamic clustering component to capture the overall trends of monitored behaviours and a trajectory generation component, which extracts features from the densest cluster centroids. Finally, we apply an ensemble of divergence tests on sliding reference and detection windows to detect drift periods in the behavioural sequence.

This work presents a machine learning approach to optimize the energy efficiency (EE) in a multi-cell wireless network. This optimization problem is non-convex and its global optimum is difficult to find. In the literature, either simple but suboptimal approaches or optimal methods with high complexity and poor scalability are proposed. In contrast, we propose a machine learning framework to approach the global optimum. While the neural network (NN) training takes moderate time, application with the trained model requires very low computational complexity. In particular, we introduce a novel objective function based on stochastic actions to solve the non-convex optimization problem. Besides, we design a dedicated NN architecture for the multi-cell network optimization problems that is permutation-equivariant. It classifies channels according to their roles in the EE computation. In this way, we encode our domain knowledge into the NN design and shed light into the black box of machine learning. Training and testing results show that the proposed method without supervision and with reasonable computational effort achieves an EE close to the global optimum found by the branch-and-bound algorithm. Hence, the proposed approach balances between computational complexity and performance.

With the proliferation of ever more complicated Deep Learning architectures, data synthesis is a highly promising technique to address the demand of data-hungry models. However, reliably assessing the quality of a 'synthesiser' model's output is an open research question with significant associated risks for high-stake domains. To address this challenge, we have designed a unique confident data synthesis algorithm that introduces statistical confidence guarantees through a novel extension of the Conformal Prediction framework. We support our proposed algorithm with theoretical proofs and an extensive empirical evaluation of five benchmark datasets. To show our approach's versatility on ubiquitous real-world challenges, the datasets were carefully selected for their variety of difficult characteristics: low sample count, class imbalance and non-separability, and privacy-sensitive data. In all trials, training sets extended with our confident synthesised data performed at least as well as the original, and frequently significantly improved Deep Learning performance by up to +65% F1-score.

In the study of the brain, there is a hypothesis that sparse coding is realized in information representation of external stimuli, which is experimentally confirmed for visual stimulus recently. However, unlike the specific functional region in the brain, sparse coding in information processing in the whole brain has not been clarified sufficiently. In this study, we investigate the validity of sparse coding in the whole human brain by applying various matrix factorization methods to functional magnetic resonance imaging data of neural activities in the whole human brain. The result suggests sparse coding hypothesis in information representation in the whole human brain, because extracted features from sparse MF method, SparsePCA or MOD under high sparsity setting, or approximate sparse MF method, FastICA, can classify external visual stimuli more accurately than non-sparse MF method or sparse MF method under low sparsity setting.

Contact-rich manipulation tasks with stiff frictional elements like connector insertion are difficult to model with rigid-body simulators. In this work, we propose a new approach for modeling these environments by learning a quasi-static contact force model instead of a full simulator. Using a feature vector that contains information about the configuration and control, we find a linear mapping adequately captures the relationship between this feature vector and the sensed contact forces. A novel Linear Model Learning (LML) algorithm is used to solve for the globally optimal mapping in real time without any matrix inversions, resulting in an algorithm that runs in nearly constant time on a GPU as the model size increases. We validate the proposed approach for connector insertion both in simulation and hardware experiments, where the learned model is combined with an optimization-based controller to achieve smooth insertions in the presence of misalignments and uncertainty.

The Jiutian Intelligence Network Simulation Platform [1] decouples, encapsulates and interfaces the key modules of the wireless communication receiving end and transmitting end, and supports module replacement and combination research. Therefore, AI algorithm personnel as users can use the 5G + typical functional network element intelligence and new air interface simulation environment to efficiently and cost-effectively conduct design research and effect verification of new intelligent algorithms in a virtual environment. In order to allow users to understand and become familiar with the wireless simulation platform from scratch, especially for algorithm personnel who have no communication system background in the early stage, the smart network simulation platform has designed open tasks (such as multi-objective antenna optimization, high traffic business, CSI compression feedback, etc.) to guide users From familiar use to advanced verification functions.

Federated Learning (FL) is a distributed learning paradigm that enhances users privacy by eliminating the need for clients to share raw, private data with the server. Despite the success, recent studies expose the vulnerability of FL to model inversion attacks, where adversaries reconstruct users private data via eavesdropping on the shared gradient information. We hypothesize that a key factor in the success of such attacks is the low entanglement among gradients per data within the batch during stochastic optimization. This creates a vulnerability that an adversary can exploit to reconstruct the sensitive data. Building upon this insight, we present a simple, yet effective defense strategy that obfuscates the gradients of the sensitive data with concealed samples. To achieve this, we propose synthesizing concealed samples to mimic the sensitive data at the gradient level while ensuring their visual dissimilarity from the actual sensitive data. Compared to the previous art, our empirical evaluations suggest that the proposed technique provides the strongest protection while simultaneously maintaining the FL performance.

Disentangled Graph Convolutional Network (DisenGCN) is an encouraging framework to disentangle the latent factors arising in a real-world graph. However, it relies on disentangling information heavily from a local range (i.e., a node and its 1-hop neighbors), while the local information in many cases can be uneven and incomplete, hindering the interpretabiliy power and model performance of DisenGCN. In this paper\footnote{This paper is a lighter version of \href{https://jingweio.github.io/assets/pdf/tnnls22.pdf}{"Learning Disentangled Graph Convolutional Networks Locally and Globally"} where the results and analysis have been reworked substantially. Digital Object Identifier \url{https://doi.org/10.1109/TNNLS.2022.3195336}.}, we introduce a novel Local and Global Disentangled Graph Convolutional Network (LGD-GCN) to capture both local and global information for graph disentanglement. LGD-GCN performs a statistical mixture modeling to derive a factor-aware latent continuous space, and then constructs different structures w.r.t. different factors from the revealed space. In this way, the global factor-specific information can be efficiently and selectively encoded via a message passing along these built structures, strengthening the intra-factor consistency. We also propose a novel diversity promoting regularizer employed with the latent space modeling, to encourage inter-factor diversity. Evaluations of the proposed LGD-GCN on the synthetic and real-world datasets show a better interpretability and improved performance in node classification over the existing competitive models. Code is available at \url{https://github.com/jingweio/LGD-GCN}.