Transformer-based large language models (LLMs) have achieved remarkable success across various tasks. Yet, fine-tuning such massive models in federated learning (FL) settings poses significant challenges due to resource constraints and communication overhead. Low-Rank Adaptation (LoRA) addresses these issues by training compact, low-rank matrices instead of fully fine-tuning large models. This paper introduces a wireless federated LoRA fine-tuning framework that optimizes both learning performance and communication efficiency. We provide a novel convergence analysis, revealing how LoRA rank and covariance effects influence FL training dynamics. Leveraging these insights, we propose Sparsified Orthogonal Fine-Tuning (\textbf{SOFT}), an adaptive sparsification method that streamlines parameter updates without expensive matrix multiplications and singular value decomposition (SVD) operations. Additionally, we present a Two Stage Federated Algorithm (\textbf{TSFA}) algorithm that pre-determines key parameters offline and dynamically adjusts bandwidth and sparsification online, ensuring efficient training under latency constraints. Experiments on benchmark datasets show that our approach achieves accuracy comparable to ideal scenario models while significantly reducing communication overhead. Our framework thus enables scalable, resource-efficient deployment of large models in real-world wireless FL scenarios.

--Large artificial intelligence models (LAMs) possess human-like abilities to solve a wide range of real-world problems, exemplifying the potential of experts in various domains and modalities. By leveraging the communication and computation capabilities of geographically dispersed edge devices, edge LAM emerges as an enabling technology to empower the delivery of various real-time intelligent services in 6G. Unlike traditional edge artificial intelligence (AI) that primarily supports a single task using small models, edge LAM is featured by the need of the decomposition and distributed deployment of large models, and the ability to support highly generalized and diverse tasks. However, due to limited communication, computation, and storage resources over wireless networks, the vast number of trainable neurons and the substantial communication overhead pose a formidable hurdle to the practical deployment of edge LAMs. In this paper, we investigate the opportunities and challenges of edge LAMs from the perspectives of model decomposition and resource management. Specifically, we propose collaborative fine-tuning and full-parameter training frameworks, alongside a microservice-assisted inference architecture, to enhance the deployment of edge LAM over wireless networks. Additionally, we investigate the application of edge LAM in air-interface designs, focusing on channel prediction and beamforming. These innovative frameworks and applications offer valuable insights and solutions for advancing 6G technology. With the remarkable advancement in artificial intelligence (AI), large AI models (LAMs) now excel at performing real-world complex tasks.

-- The development of novel autonomous underwater gliders has been hindered by limited shape diversity, primarily due to the reliance on traditional design tools that depend heavily on manual trial and error . Building an automated design framework is challenging due to the complexities of representing glider shapes and the high computational costs associated with modeling complex solid-fluid interactions. In this work, we introduce an AI-enhanced automated computational framework designed to overcome these limitations by enabling the creation of underwater robots with non-trivial hull shapes. Our approach involves an algorithm that co-optimizes both shape and control signals, utilizing a reduced-order geometry representation and a differentiable neural-network-based fluid surrogate model. This end-to-end design workflow facilitates rapid iteration and evaluation of hydrodynamic performance, leading to the discovery of optimal and complex hull shapes across various control settings. We validate our method through wind tunnel experiments and swimming pool gliding tests, demonstrating that our computationally designed gliders surpass manually designed counterparts in terms of energy efficiency. By addressing challenges in efficient shape representation and neural fluid surrogate models, our work paves the way for the development of highly efficient underwater gliders, with implications for long-range ocean exploration and environmental monitoring.

The objective of canonical multi-armed bandits is to identify and repeatedly select an arm with the largest reward, often in the form of the expected value of the arm's probability distribution. Such a utilitarian perspective and focus on the probability models' first moments, however, is agnostic to the distributions' tail behavior and their implications for variability and risks in decision-making. This paper introduces a principled framework for shifting from expectation-based evaluation to an alternative reward formulation, termed a preference metric (PM). The PMs can place the desired emphasis on different reward realization and can encode a richer modeling of preferences that incorporate risk aversion, robustness, or other desired attitudes toward uncertainty. A fundamentally distinct observation in such a PM-centric perspective is that designing bandit algorithms will have a significantly different principle: as opposed to the reward-based models in which the optimal sampling policy converges to repeatedly sampling from the single best arm, in the PM-centric framework the optimal policy converges to selecting a mix of arms based on specific mixing weights. Designing such mixture policies departs from the principles for designing bandit algorithms in significant ways, primarily because of uncountable mixture possibilities. The paper formalizes the PM-centric framework and presents two algorithm classes (horizon-dependent and anytime) that learn and track mixtures in a regret-efficient fashion. These algorithms have two distinctions from their canonical counterparts: (i) they involve an estimation routine to form reliable estimates of optimal mixtures, and (ii) they are equipped with tracking mechanisms to navigate arm selection fractions to track the optimal mixtures. These algorithms' regret guarantees are investigated under various algebraic forms of the PMs.

Recent methods leverage a hypernet to handle the performance-fairness trade-offs in federated learning. This hypernet maps the clients' preferences between model performance and fairness to preference-specifc models on the trade-off curve, known as local Pareto front. However, existing methods typically adopt a uniform preference sampling distribution to train the hypernet across clients, neglecting the inherent heterogeneity of their local Pareto fronts. Meanwhile, from the perspective of generalization, they do not consider the gap between local and global Pareto fronts on the global dataset. To address these limitations, we propose HetPFL to effectively learn both local and global Pareto fronts. HetPFL comprises Preference Sampling Adaptation (PSA) and Preference-aware Hypernet Fusion (PHF). PSA adaptively determines the optimal preference sampling distribution for each client to accommodate heterogeneous local Pareto fronts. While PHF performs preference-aware fusion of clients' hypernets to ensure the performance of the global Pareto front. We prove that HetPFL converges linearly with respect to the number of rounds, under weaker assumptions than existing methods. Extensive experiments on four datasets show that HetPFL significantly outperforms seven baselines in terms of the quality of learned local and global Pareto fronts.

Precise manipulation tasks require accurate knowledge of payload inertial parameters. Unfortunately, identifying these parameters for unknown payloads while ensuring that the robotic system satisfies its input and state constraints while avoiding collisions with the environment remains a significant challenge. This paper presents an integrated framework that enables robotic manipulators to safely and automatically identify payload parameters while maintaining operational safety guarantees. The framework consists of two synergistic components: an online trajectory planning and control framework that generates provably-safe exciting trajectories for system identification that can be tracked while respecting robot constraints and avoiding obstacles and a robust system identification method that computes rigorous overapproximative bounds on end-effector inertial parameters assuming bounded sensor noise. Experimental validation on a robotic manipulator performing challenging tasks with various unknown payloads demonstrates the framework's effectiveness in establishing accurate parameter bounds while maintaining safety throughout the identification process. The code is available at our project webpage: https://roahmlab.github.io/OnlineSafeSysID/.

Black-box discrete optimization (BB-DO) problems arise in many real-world applications, such as neural architecture search and mathematical model estimation. A key challenge in BB-DO is epistasis among parameters where multiple variables must be modified simultaneously to effectively improve the objective function. Estimation of Distribution Algorithms (EDAs) provide a powerful framework for tackling BB-DO problems. In particular, an EDA leveraging a Variational Autoencoder (VAE) has demonstrated strong performance on relatively low-dimensional problems with epistasis while reducing computational cost. Meanwhile, evolutionary algorithms such as DSMGA-II and P3, which integrate bit-flip-based local search with linkage learning, have shown excellent performance on high-dimensional problems. In this study, we propose a new memetic algorithm that combines VAE-based sampling with local search. The proposed method inherits the strengths of both VAE-based EDAs and local search-based approaches: it effectively handles high-dimensional problems with epistasis among parameters without incurring excessive computational overhead. Experiments on NK landscapes -- a challenging benchmark for BB-DO involving epistasis among parameters -- demonstrate that our method outperforms state-of-the-art VAE-based EDA methods, as well as leading approaches such as P3 and DSMGA-II.

--The quantum approximate optimization algorithm (QAOA) is one of the promising variational approaches of quantum computing to solve combinatorial optimization problems. In QAOA, variational parameters need to be optimized by solving a series of nonlinear, nonconvex optimization programs. In this work, we propose a QAOA parameter transfer scheme using Graph Attention Networks (GA T) to solve Maximum Independent Set (MIS) problems. We prepare optimized parameters for graphs of 12 and 14 vertices and use GA Ts to transfer their parameters to larger graphs. Additionally, we design a hybrid distributed resource-aware algorithm for MIS (HyDRA-MIS), which decomposes large problems into smaller ones that can fit onto noisy intermediate-scale quantum (NISQ) computers. We integrate our GA T -based parameter transfer approach to HyDRA-MIS and demonstrate competitive results compared to KaMIS, a state-of-the-art classical MIS solver, on graphs with several thousands vertices. Reproducibility: Our source code and data are available at [link will be available upon acceptance]. Quantum computing is rapidly advancing as a powerful technology with substantial potential across a range of fields, including finance [1], chemical simulations [2], combinatorial optimization [3], and machine learning [4], among others.

T o overcome the limitations of traditional approaches, we introduce Navigable Exemplar-Based Dispatch Coverage (NavEX), a novel dispatch coverage framework that combines exemplar-clustering with obstacle-aware and traversability-aware shortest distances, offering a deployment framework based on submodular optimization. NavEX provides a unified approach to solve two critical coverage tasks: (a) fair-access deployment, aiming to provide equitable service by minimizing agent-target distances, and (b) hotspot deployment, prioritizing high-density target regions. A key feature of NavEX is the use of exemplar-clustering for the coverage utility measure, which provides the flexibility to employ non-Euclidean distance metrics that do not necessarily conform to the triangle inequality. This allows NavEX to incorporate visibility graphs for shortest-path computation in environments with planar obstacles, and traversability-aware RRT for complex, rugged terrains. By leveraging submodular optimization, the NavEX framework enables efficient, near-optimal solutions with provable performance guarantees for multi-agent deployment in realistic and complex settings, as demonstrated by our simulations.

--Federated domain generalization (FedDG) aims to learn a globally generalizable model from decentralized clients with heterogeneous data while preserving privacy. Recent studies have introduced prompt learning to adapt vision-language models (VLMs) in FedDG by learning a single global prompt. However, such a one-prompt-fits-all learning paradigm typically leads to performance degradation on personalized samples. Although the mixture of experts (MoE) offers a promising solution for specialization, existing MoE-based methods suffer from coarse image-level expert assignment and high communication costs from parameterized routers. T o address these limitations, we propose TRIP, a T oken-level pRompt mIxture with Parameter-free routing framework for FedDG, which treats multiple prompts as distinct experts. Unlike existing image-level routing designs, TRIP assigns different tokens within an image to specific experts. T o ensure communication efficiency, TRIP incorporates a parameter-free routing mechanism based on token clustering and optimal transport. The instance-specific prompt is then synthesized by aggregating experts, weighted by the number of tokens assigned to each. Additionally, TRIP develops an unbiased learning strategy for prompt experts, leveraging the VLM's zero-shot generalization capability. Extensive experiments across four benchmarks demonstrate that TRIP achieves optimal generalization results, with communicating only 1K parameters per round. HE exponential growth of data from diverse and decentralized sources has significantly accelerated advancements in machine learning. However, traditional machine learning paradigms typically operate in a centralized manner, which requires all decentralized data to be processed on a central server, raising serious privacy concerns. This work was supported by the Shandong Provincial Natural Science Foundation under Grant ZR2020KF015, and by the Taishan Scholar Program of Shandong Province under Grant tsqn202211199 and Grant tstp20221137. S. Gong, C. Cui, and X. Dong are with the School of Computing and Artificial Intelligence, Shandong University of Finance and Economics, Jinan 250014, China (e-mail: gsh8210@163.com; X. Nie is with the School of Computer Science and Technology, Shandong Jianzhu University, Jinan 250101, China (e-mail: niexsh@hotmail.com). L. Zhu is with the College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China (e-mail: leizhu0608@gmail.com). X. Chang is with the School of Information Science and Technology, University of Science and Technology of China, Anhui 230026, China.