Most 3D object generators focus on aesthetic quality, often neglecting physical constraints necessary in applications. One such constraint is that the 3D object should be self-supporting, i.e ., remains balanced under gravity. Prior approaches to generating stable 3D objects used differentiable physics simulators to optimize geometry at test-time, which is slow, unstable, and prone to local optima. Inspired by the literature on aligning generative models to external feedback, we propose D irect Simulation O ptimization (DSO), a framework to use the feedback from a (non-differentiable) simulator to increase the likelihood that the 3D generator outputs stable 3D objects directly. W e construct a dataset of 3D objects labeled with a stability score obtained from the physics simulator . W e can then fine-tune the 3D generator using the stability score as the alignment metric, via direct preference optimization (DPO) or direct reward optimization (DRO), a novel objective, which we introduce, to align diffusion models without requiring pairwise preferences. Our experiments show that the fine-tuned feed-forward generator, using either DPO or DRO objective, is much faster and more likely to produce stable objects than test-time optimization. Notably, the DSO framework works even without any ground-truth 3D objects for training, allowing the 3D generator to self-improve by automatically collecting simulation feedback on its own outputs.

In this work, we propose a factor graph optimization (FGO) framework to simultaneously solve the calibration problem for Ultra-WideBand (UWB) anchors and the robot localization problem. Calibrating UWB anchors manually can be time-consuming and even impossible in emergencies or those situations without special calibration tools. Therefore, automatic estimation of the anchor positions becomes a necessity. The proposed method enables the creation of a soft sensor providing the position information of the anchors in a UWB network. This soft sensor requires only UWB and LiDAR measurements measured from a moving robot. The proposed FGO framework is suitable for the calibration of an extendable large UWB network. Moreover, the anchor calibration problem and robot localization problem can be solved simultaneously, which saves time for UWB network deployment. The proposed framework also helps to avoid artificial errors in the UWB-anchor position estimation and improves the accuracy and robustness of the robot-pose. The experimental results of the robot localization using LiDAR and a UWB network in a 3D environment are discussed, demonstrating the performance of the proposed method. More specifically, the anchor calibration problem with four anchors and the robot localization problem can be solved simultaneously and automatically within 30 seconds by the proposed framework. The supplementary video and codes can be accessed via https://github.com/LiuxhRobotAI/Simultaneous_calibration_localization.

Imputation of random or non-random missing data is a long-standing research topic and a crucial application for Intelligent Transportation Systems (ITS). However, with the advent of modern communication technologies such as Global Satellite Navigation Systems (GNSS), traffic data collection has outpaced traditional methods, introducing new challenges in random missing value imputation and increasing demands for spatiotemporal dependency modelings. To address these issues, we propose a novel spatiotemporal traffic imputation method, Multimode Nonlinear Transformed Tensor Nuclear Norm (MNT-TNN), grounded in the Transform-based Tensor Nuclear Norm (TTNN) optimization framework which exhibits efficient mathematical representations and theoretical guarantees for the recovery of random missing values. Specifically, we strictly extend the single-mode transform in TTNN to a multimode transform with nonlinear activation, effectively capturing the intrinsic multimode spatiotemporal correlations and low-rankness of the traffic tensor, represented as location $\times$ location $\times$ time. To solve the nonconvex optimization problem, we design a proximal alternating minimization (PAM) algorithm with theoretical convergence guarantees. We suggest an Augmented Transform-based Tensor Nuclear Norm Families (ATTNNs) framework to enhance the imputation results of TTNN techniques, especially at very high miss rates. Extensive experiments on real datasets demonstrate that our proposed MNT-TNN and ATTNNs can outperform the compared state-of-the-art imputation methods, completing the benchmark of random missing traffic value imputation.

This paper addresses the problem of hierarchical task control, where a robotic system must perform multiple subtasks with varying levels of priority. A commonly used approach for hierarchical control is the null-space projection technique, which ensures that higher-priority tasks are executed without interference from lower-priority ones. While effective, the state-of-the-art implementations of this method rely on low-level controllers, such as PID controllers, which can be prone to suboptimal solutions in complex tasks. This paper presents a novel framework for hierarchical task control, integrating the null-space projection technique with the path integral control method. Our approach leverages Monte Carlo simulations for real-time computation of optimal control inputs, allowing for the seamless integration of simpler PID-like controllers with a more sophisticated optimal control technique. Through simulation studies, we demonstrate the effectiveness of this combined approach, showing how it overcomes the limitations of traditional

The microservices architectural style has become the de facto standard for large-scale cloud applications, offering numerous benefits in scalability, maintainability, and deployment flexibility. Many organizations are pursuing the migration of legacy monolithic systems to a microservices architecture. However, this process is challenging, risky, time-intensive, and prone-to-failure while several organizations lack necessary financial resources, time, or expertise to set up this migration process. So, rather than trying to migrate a legacy system where migration is risky or not feasible, we suggest exposing it as a microservice application without without having to migrate it. In this paper, we present a reusable, automated, two-phase approach that combines evolutionary algorithms with machine learning techniques. In the first phase, we identify microservices at the method level using a multi-objective genetic algorithm that considers both structural and semantic dependencies between methods. In the second phase, we generate REST APIs for each identified microservice using a classification algorithm to assign HTTP methods and endpoints. We evaluated our approach with a case study on the Spring PetClinic application, which has both monolithic and microservices implementations that serve as ground truth for comparison. Results demonstrate that our approach successfully aligns identified microservices with those in the reference microservices implementation, highlighting its effectiveness in service identification and API generation.

Abstract--Federated learning has emerged as an attractive approach to protect data privacy by eliminating the need for sharing clients' data while reducing communication costs compared with centralized machine learning algorithms. However, recent studies have shown that federated learning alone does not guarantee privacy, as private data may still be inferred from the uploaded parameters to the central server. In order to successfully avoid data leakage, adopting differential privacy (DP) in the local optimization process or in the local update aggregation process has emerged as two feasible ways for achieving sample-level or user-level privacy guarantees respectively, in federated learning models. However, compared to their non-private equivalents, these approaches suffer from a poor utility . T o improve the privacy-utility trade-off, we present a modification to these vanilla differentially private algorithms based on a Haar wavelet transformation step and a novel noise injection scheme that significantly lowers the asymptotic bound of the noise variance. We also present a holistic convergence analysis of our proposed algorithm, showing that our method yields better convergence performance than the vanilla DP algorithms. Numerical experiments on real-world datasets demonstrate that our method outperforms existing approaches in model utility while maintaining the same privacy guarantees. Machine learning (ML) has become an essential tool to analyze this data and extract valuable insights for various applications, including facial recognition, data analytics, weather prediction, and speech recognition, among others [1], [2], [3], [4], [5]. However, in real-world settings, data -- particularly personal data -- is often created and stored on end-user devices. The majority of traditional ML algorithms require the centralization of these training data, which involves collecting and processing data at a potent cloud-based server [6], [7]. This process carries significant risks to data integrity and privacy, particularly when it comes to personal data. Kanishka Ranaweera is with School of Engineering and Built Environment, Deakin University, Waurn Ponds, VIC 3216, Australia, and also with the Data61, CSIRO, Eveleigh, NSW 2015, Australia. Dinh C. Nguyen is with the Department of Electrical and Computer Engineering, The University of Alabama in Huntsville Alabama, USA. Pubudu N. Pathirana is with School of Engineering and Built Environment, Deakin University, Waurn Ponds, VIC 3216, Australia.

Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, to achieve high agility and maneuverability-like insects-MAVs with these mechanisms require significant weight reduction. One approach involves using single-DOF planar rigid linkages, which are rarely optimized dimensionally for high lift and low power so that smaller motors and batteries could be used. We integrated a mechanism simulator based on a quasistatic nonlinear finite element method with an unsteady vortex lattice method-based aerodynamic analysis tool within an optimization routine. We optimized three different mechanism topologies from the literature. As a result, significant power savings were observed up to 42% in some cases, due to increased amplitude and higher lift coefficients resulting from optimized asymmetric sweeping velocity profiles. We also conducted an uncertainty analysis that revealed the need for high manufacturing tolerances to ensure reliable mechanism performance. The presented unified computational tool also facilitates the optimal selection of MAV components based on the payload and flight time requirements.

In edge intelligence systems, deep neural network (DNN) partitioning and data offloading can provide real-time task inference for resource-constrained mobile devices. However, the inference time of DNNs is typically uncertain and cannot be precisely determined in advance, presenting significant challenges in ensuring timely task processing within deadlines. To address the uncertain inference time, we propose a robust optimization scheme to minimize the total energy consumption of mobile devices while meeting task probabilistic deadlines. The scheme only requires the mean and variance information of the inference time, without any prediction methods or distribution functions. The problem is formulated as a mixed-integer nonlinear programming (MINLP) that involves jointly optimizing the DNN model partitioning and the allocation of local CPU/GPU frequencies and uplink bandwidth. To tackle the problem, we first decompose the original problem into two subproblems: resource allocation and DNN model partitioning. Subsequently, the two subproblems with probability constraints are equivalently transformed into deterministic optimization problems using the chance-constrained programming (CCP) method. Finally, the convex optimization technique and the penalty convex-concave procedure (PCCP) technique are employed to obtain the optimal solution of the resource allocation subproblem and a stationary point of the DNN model partitioning subproblem, respectively. The proposed algorithm leverages real-world data from popular hardware platforms and is evaluated on widely used DNN models. Extensive simulations show that our proposed algorithm effectively addresses the inference time uncertainty with probabilistic deadline guarantees while minimizing the energy consumption of mobile devices.

In evolutionary multitasking, strategies such as crossover operators and skill factor assignment are critical for effective knowledge transfer. Existing improvements to crossover operators primarily focus on low-dimensional variable combinations, such as arithmetic crossover or partially mapped crossover, which are insufficient for modeling complex high-dimensional interactions.Moreover, static or semi-dynamic crossover strategies fail to adapt to the dynamic dependencies among tasks. In addition, current Multifactorial Evolutionary Algorithm frameworks often rely on fixed skill factor assignment strategies, lacking flexibility. To address these limitations, this paper proposes the Multifactorial Evolutionary Algorithm-Residual Learning (MFEA-RL) method based on residual learning. The method employs a Very Deep Super-Resolution (VDSR) model to generate high-dimensional residual representations of individuals, enhancing the modeling of complex relationships within dimensions. A ResNet-based mechanism dynamically assigns skill factors to improve task adaptability, while a random mapping mechanism efficiently performs crossover operations and mitigates the risk of negative transfer. Theoretical analysis and experimental results show that MFEA-RL outperforms state-of-the-art multitasking algorithms. It excels in both convergence and adaptability on standard evolutionary multitasking benchmarks, including CEC2017-MTSO and WCCI2020-MTSO. Additionally, its effectiveness is validated through a real-world application scenario.

We consider the problem of consistent low-rank approximation for multigroup data: we ask for a sequence of $k$ basis vectors such that projecting the data onto their spanned subspace treats all groups as equally as possible, by minimizing the maximum error among the groups. Additionally, we require that the sequence of basis vectors satisfies the natural consistency property: when looking for the best $k$ vectors, the first $d