The current Adaptive Cruise Control (ACC) systems are vulnerable to "road bully" such as cut-ins. This paper proposed an Anti-bullying Adaptive Cruise Control (AACC) approach with proactive right-of-way protection ability. It bears the following features: i) with the enhanced capability of preventing bullying from cut-ins; ii) optimal but not unsafe; iii) adaptive to various driving styles of cut-in vehicles; iv) with real-time field implementation capability. The proposed approach can identify other road users' driving styles online and conduct game-based motion planning for right-of-way protection. A detailed investigation of the simulation results shows that the proposed approach can prevent bullying from cut-ins and be adaptive to different cut-in vehicles' driving styles. The proposed approach is capable of enhancing travel efficiency by up to 29.55% under different cut-in gaps and can strengthen driving safety compared with the current ACC controller. The proposed approach is flexible and robust against traffic congestion levels. It can improve mobility by up to 11.93% and robustness by 8.74% in traffic flow. Furthermore, the proposed approach can support real-time field implementation by ensuring less than 50 milliseconds computation time.

Individual fairness guarantees are often desirable properties to have, but they become hard to formalize when the dataset contains outliers. Here, we investigate the problem of developing an individually fair $k$-means clustering algorithm for datasets that contain outliers. That is, given $n$ points and $k$ centers, we want that for each point which is not an outlier, there must be a center within the $\frac{n}{k}$ nearest neighbours of the given point. While a few of the recent works have looked into individually fair clustering, this is the first work that explores this problem in the presence of outliers for $k$-means clustering. For this purpose, we define and solve a linear program (LP) that helps us identify the outliers. We exclude these outliers from the dataset and apply a rounding algorithm that computes the $k$ centers, such that the fairness constraint of the remaining points is satisfied. We also provide theoretical guarantees that our method leads to a guaranteed approximation of the fair radius as well as the clustering cost. We also demonstrate our techniques empirically on real-world datasets.

The phenomenon of grokking in over-parameterized neural networks has garnered significant interest. It involves the neural network initially memorizing the training set with zero training error and near-random test error. Subsequent prolonged training leads to a sharp transition from no generalization to perfect generalization. Our study comprises extensive experiments and an exploration of the research behind the mechanism of grokking. Through experiments, we gained insights into its behavior concerning the training data fraction, the model, and the optimization. The mechanism of grokking has been a subject of various viewpoints proposed by researchers, and we introduce some of these perspectives.

Federated learning (FL) is a distributed learning framework where users train a global model by exchanging local model updates with a server instead of raw datasets, preserving data privacy and reducing communication overhead. However, the latency grows with the number of users and the model size, impeding the successful FL over traditional wireless networks with orthogonal access. Cell-free massive multiple-input multipleoutput (CFmMIMO) is a promising solution to serve numerous users on the same time/frequency resource with similar rates. This architecture greatly reduces uplink latency through spatial multiplexing but does not take application characteristics into account. In this paper, we co-optimize the physical layer with the FL application to mitigate the straggler effect. We introduce a novel adaptive mixed-resolution quantization scheme of the local gradient vector updates, where only the most essential entries are given high resolution. Thereafter, we propose a dynamic uplink power control scheme to manage the varying user rates and mitigate the straggler effect. The numerical results demonstrate that the proposed method achieves test accuracy comparable to classic FL while reducing communication overhead by at least 93% on the CIFAR-10, CIFAR-100, and Fashion-MNIST datasets. We compare our methods against AQUILA, Top-q, and LAQ, using the max-sum rate and Dinkelbach power control schemes. Our approach reduces the communication overhead by 75% and achieves 10% higher test accuracy than these benchmarks within a constrained total latency budget.

This paper addresses distributed learning of a complex object for multiple networked robots based on distributed optimization and kernel-based support vector machine. In order to overcome a fundamental limitation of polynomial kernels assumed in our antecessor, we employ Gaussian kernel as a kernel function for classification. The Gaussian kernel prohibits the robots to share the function through a finite number of equality constraints due to its infinite dimensionality of the function space. We thus reformulate the optimization problem assuming that the target function space is identified with the space spanned by the bases associated with not the data but a finite number of grid points. The above relaxation is shown to allow the robots to share the function by a finite number of equality constraints. We finally demonstrate the present approach through numerical simulations.

We consider the challenge of black-box optimization within hybrid discrete-continuous and variable-length spaces, a problem that arises in various applications, such as decision tree learning and symbolic regression. We propose DisCo-DSO (Discrete-Continuous Deep Symbolic Optimization), a novel approach that uses a generative model to learn a joint distribution over discrete and continuous design variables to sample new hybrid designs. In contrast to standard decoupled approaches, in which the discrete and continuous variables are optimized separately, our joint optimization approach uses fewer objective function evaluations, is robust against non-differentiable objectives, and learns from prior samples to guide the search, leading to significant improvement in performance and sample efficiency. Our experiments on a diverse set of optimization tasks demonstrate that the advantages of DisCo-DSO become increasingly evident as the complexity of the problem increases. In particular, we illustrate DisCo-DSO's superiority over the state-of-the-art methods for interpretable reinforcement learning with decision trees.

Graph neural networks (GNNs) with unsupervised learning can solve large-scale combinatorial optimization problems (COPs) with efficient time complexity, making them versatile for various applications. However, since this method maps the combinatorial optimization problem to the training process of a graph neural network, and the current mainstream backpropagation-based training algorithms are prone to fall into local minima, the optimization performance is still inferior to the current state-of-the-art (SOTA) COP methods. To address this issue, inspired by possibly chaotic dynamics of real brain learning, we introduce a chaotic training algorithm, i.e. chaotic graph backpropagation (CGBP), which introduces a local loss function in GNN that makes the training process not only chaotic but also highly efficient. Different from existing methods, we show that the global ergodicity and pseudo-randomness of such chaotic dynamics enable CGBP to learn each optimal GNN effectively and globally, thus solving the COP efficiently. We have applied CGBP to solve various COPs, such as the maximum independent set, maximum cut, and graph coloring. Results on several large-scale benchmark datasets showcase that CGBP can outperform not only existing GNN algorithms but also SOTA methods. In addition to solving large-scale COPs, CGBP as a universal learning algorithm for GNNs, i.e. as a plug-in unit, can be easily integrated into any existing method for improving the performance.

Objective: Configuring a prosthetic leg is an integral part of the fitting process, but the personalization of a multi-modal powered knee-ankle prosthesis is often too complex to realize in a clinical environment. This paper develops both the technical means to individualize a hybrid kinematic-impedance controller for variable-incline walking and sit-stand transitions, and an intuitive Clinical Tuning Interface (CTI) that allows prosthetists to directly modify the controller behavior. Methods: Utilizing an established method for predicting kinematic gait individuality alongside a new parallel approach for kinetic individuality, we applied tuned characteristics exclusively from level-ground walking to personalize continuous-phase/task models of joint kinematics and impedance. To take advantage of this method, we developed a CTI that translates common clinical tuning parameters into model adjustments. We then conducted a case study involving an above-knee amputee participant where a prosthetist iteratively tuned the prosthesis in a simulated clinical session involving walking and sit-stand transitions. Results: The prosthetist fully tuned the multi-activity prosthesis controller in under 20 min. Each iteration of tuning (i.e., observation, parameter adjustment, and model reprocessing) took 2 min on average for walking and 1 min on average for sit-stand. The tuned behavior changes were appropriately manifested in the commanded prosthesis torques, both at the tuned tasks and across untuned tasks (inclines). Conclusion: The CTI leveraged able-bodied trends to efficiently personalize a wide array of walking tasks and sit-stand transitions. A case-study validated the CTI tuning method and demonstrated the efficiency necessary for powered knee-ankle prostheses to become clinically viable.

This approach (Singh and Rizwanullah 2022) to circuit board design eliminates the necessity for manually crafted components, (Barahona et al. 1988) and phylogenetics (Catanzaro thereby providing an ideal means to address problems without et al. 2012). Although general-purpose solvers exist and requiring specific domain knowledge (Lombardi and Milano most CO problems are easy to formulate, in many applications 2018). However, improvement heuristics can be easier of interest getting to the exact optimal solution is NPhard to apply when complex constraints need to be satisfied and and said solvers are extremely inefficient or even impractical may yield better performance than constructive alternatives due to the computational time required to reach optimality when the problem structure is difficult to represent (Zhang (Toth 2000; Colorni et al. 1996). Specialized solvers et al. 2020) or when known improvement operators with and heuristics have been developed over the years for different good properties exist (Bordewich et al. 2008).

We present a case for the use of Reinforcement Learning (RL) for the design of physics instrument as an alternative to gradient-based instrument-optimization methods. It's applicability is demonstrated using two empirical studies. One is longitudinal segmentation of calorimeters and the second is both transverse segmentation as well longitudinal placement of trackers in a spectrometer. Based on these experiments, we propose an alternative approach that offers unique advantages over differentiable programming and surrogate-based differentiable design optimization methods. First, Reinforcement Learning (RL) algorithms possess inherent exploratory capabilities, which help mitigate the risk of convergence to local optima. Second, this approach eliminates the necessity of constraining the design to a predefined detector model with fixed parameters. Instead, it allows for the flexible placement of a variable number of detector components and facilitates discrete decision-making. We then discuss the road map of how this idea can be extended into designing very complex instruments. The presented study sets the stage for a novel framework in physics instrument design, offering a scalable and efficient framework that can be pivotal for future projects such as the Future Circular Collider (FCC), where most optimized detectors are essential for exploring physics at unprecedented energy scales.