Federated reinforcement learning (FedRL) enables multiple agents to collaboratively learn a policy without sharing their local trajectories collected during agent-environment interactions. However, in practice, the environments faced by different agents are often heterogeneous, leading to poor performance by the single policy learned by existing FedRL algorithms on individual agents. In this paper, we take a further step and introduce a \emph{personalized} FedRL framework (PFedRL) by taking advantage of possibly shared common structure among agents in heterogeneous environments. Specifically, we develop a class of PFedRL algorithms named PFedRL-Rep that learns (1) a shared feature representation collaboratively among all agents, and (2) an agent-specific weight vector personalized to its local environment. We analyze the convergence of PFedTD-Rep, a particular instance of the framework with temporal difference (TD) learning and linear representations. To the best of our knowledge, we are the first to prove a linear convergence speedup with respect to the number of agents in the PFedRL setting. To achieve this, we show that PFedTD-Rep is an example of the federated two-timescale stochastic approximation with Markovian noise. Experimental results demonstrate that PFedTD-Rep, along with an extension to the control setting based on deep Q-networks (DQN), not only improve learning in heterogeneous settings, but also provide better generalization to new environments.

SODA aims to revolutionize assistive feeding systems by designing a multi-purpose utensil using origami-inspired artificial muscles. Traditional utensils, such as forks and spoons,are hard and stiff, causing discomfort and fear among users, especially when operated by autonomous robotic arms. Additionally, these systems require frequent utensil changes to handle different food types. Our innovative utensil design addresses these issues by offering a versatile, adaptive solution that can seamlessly transition between gripping and scooping various foods without the need for manual intervention. Utilizing the flexibility and strength of origami-inspired artificial muscles, the utensil ensures safe and comfortable interactions, enhancing user experience and efficiency. This approach not only simplifies the feeding process but also promotes greater independence for individuals with limited mobility, contributing to the advancement of soft robotics in healthcare applications.

We study the data packet transmission problem (mmDPT) in dense cell-free millimeter wave (mmWave) networks, i.e., users sending data packet requests to access points (APs) via uplinks and APs transmitting requested data packets to users via downlinks. Our objective is to minimize the average delay in the system due to APs' limited service capacity and unreliable wireless channels between APs and users. This problem can be formulated as a restless multi-armed bandits problem with fairness constraint (RMAB-F). Since finding the optimal policy for RMAB-F is intractable, existing learning algorithms are computationally expensive and not suitable for practical dynamic dense mmWave networks. In this paper, we propose a structured reinforcement learning (RL) solution for mmDPT by exploiting the inherent structure encoded in RMAB-F. To achieve this, we first design a low-complexity and provably asymptotically optimal index policy for RMAB-F. Then, we leverage this structure information to develop a structured RL algorithm called mmDPT-TS, which provably achieves an \tilde{O}(\sqrt{T}) Bayesian regret. More importantly, mmDPT-TS is computation-efficient and thus amenable to practical implementation, as it fully exploits the structure of index policy for making decisions. Extensive emulation based on data collected in realistic mmWave networks demonstrate significant gains of mmDPT-TS over existing approaches.

Restless multi-armed bandits (RMAB) have been widely used to model sequential decision making problems with constraints. The decision maker (DM) aims to maximize the expected total reward over an infinite horizon under an "instantaneous activation constraint" that at most B arms can be activated at any decision epoch, where the state of each arm evolves stochastically according to a Markov decision process (MDP). However, this basic model fails to provide any fairness guarantee among arms. In this paper, we introduce RMAB-F, a new RMAB model with "long-term fairness constraints", where the objective now is to maximize the long term reward while a minimum long-term activation fraction for each arm must be satisfied. For the online RMAB-F setting (i.e., the underlying MDPs associated with each arm are unknown to the DM), we develop a novel reinforcement learning (RL) algorithm named Fair-UCRL. We prove that Fair-UCRL ensures probabilistic sublinear bounds on both the reward regret and the fairness violation regret. Compared with off-the-shelf RL methods, our Fair-UCRL is much more computationally efficient since it contains a novel exploitation that leverages a low-complexity index policy for making decisions. Experimental results further demonstrate the effectiveness of our Fair-UCRL.

In executable task-oriented semantic parsing, the system aims to translate users' utterances in natural language to machine-interpretable programs (API calls) that can be executed according to pre-defined API specifications. With the popularity of Large Language Models (LLMs), in-context learning offers a strong baseline for such scenarios, especially in data-limited regimes. However, LLMs are known to hallucinate and therefore pose a formidable challenge in constraining generated content. Thus, it remains uncertain if LLMs can effectively perform task-oriented utterance-to-API generation where respecting API's structural and task-specific constraints is crucial. In this work, we seek to measure, analyze and mitigate such constraints violations. First, we identify the categories of various constraints in obtaining API-semantics from task-oriented utterances, and define fine-grained metrics that complement traditional ones. Second, we leverage these metrics to conduct a detailed error analysis of constraints violations seen in state-of-the-art LLMs, which motivates us to investigate two mitigation strategies: Semantic-Retrieval of Demonstrations (SRD) and API-aware Constrained Decoding (API-CD). Our experiments show that these strategies are effective at reducing constraints violations and improving the quality of the generated API calls, but require careful consideration given their implementation complexity and latency.

In this paper, we study the generation quality of interpolation-based retrieval-augmented language models (LMs). These methods, best exemplified by the KNN-LM, interpolate the LM's predicted distribution of the next word with a distribution formed from the most relevant retrievals for a given prefix. While the KNN-LM and related methods yield impressive decreases in perplexity, we discover that they do not exhibit corresponding improvements in open-ended generation quality, as measured by both automatic evaluation metrics (e.g., MAUVE) and human evaluations. Digging deeper, we find that interpolating with a retrieval distribution actually increases perplexity compared to a baseline Transformer LM for the majority of tokens in the WikiText-103 test set, even though the overall perplexity is lower due to a smaller number of tokens for which perplexity dramatically decreases after interpolation. However, when decoding a long sequence at inference time, significant improvements on this smaller subset of tokens are washed out by slightly worse predictions on most tokens. Furthermore, we discover that the entropy of the retrieval distribution increases faster than that of the base LM as the generated sequence becomes longer, which indicates that retrieval is less reliable when using model-generated text as queries (i.e., is subject to exposure bias). We hope that our analysis spurs future work on improved decoding algorithms and interpolation strategies for retrieval-augmented language models.

We consider the problem of content caching at the wireless edge to serve a set of end users via unreliable wireless channels so as to minimize the average latency experienced by end users due to the constrained wireless edge cache capacity. We formulate this problem as a Markov decision process, or more specifically a restless multi-armed bandit problem, which is provably hard to solve. We begin by investigating a discounted counterpart, and prove that it admits an optimal policy of the threshold-type. We then show that this result also holds for average latency problem. Using this structural result, we establish the indexability of our problem, and employ the Whittle index policy to minimize average latency. Since system parameters such as content request rates and wireless channel conditions are often unknown and time-varying, we further develop a model-free reinforcement learning algorithm dubbed as Q^{+}-Whittle that relies on Whittle index policy. However, Q^{+}-Whittle requires to store the Q-function values for all state-action pairs, the number of which can be extremely large for wireless edge caching. To this end, we approximate the Q-function by a parameterized function class with a much smaller dimension, and further design a Q^{+}-Whittle algorithm with linear function approximation, which is called Q^{+}-Whittle-LFA. We provide a finite-time bound on the mean-square error of Q^{+}-Whittle-LFA. Simulation results using real traces demonstrate that Q^{+}-Whittle-LFA yields excellent empirical performance.

Network pruning has been known to produce compact models without much accuracy degradation. However, how the pruning process affects a network's robustness and the working mechanism behind remain unresolved. In this work, we theoretically prove that the sparsity of network weights is closely associated with model robustness. Through experiments on a variety of adversarial pruning methods, we find that weights sparsity will not hurt but improve robustness, where both weights inheritance from the lottery ticket and adversarial training improve model robustness in network pruning. Based on these findings, we propose a novel adversarial training method called inverse weights inheritance, which imposes sparse weights distribution on a large network by inheriting weights from a small network, thereby improving the robustness of the large network.

One of the most common statistical goals is to estimate a population parameter and quantify uncertainty by constructing a confidence interval. However, the field of differential privacy lacks easy-to-use and general methods for doing so. We partially fill this gap by developing two broadly applicable methods for private confidence-interval construction. The first is based on asymptotics: for two widely used model classes, exponential families and linear regression, a simple private estimator has the same asymptotic normal distribution as the corresponding non-private estimator, so confidence intervals can be constructed using quantiles of the normal distribution. These are computationally cheap and accurate for large data sets, but do not have good coverage for small data sets. The second approach is based on the parametric bootstrap. It applies "out of the box" to a wide class of private estimators and has good coverage at small sample sizes, but with increased computational cost. Both methods are based on post-processing the private estimator and do not consume additional privacy budget.

Literary critics often attempt to uncover meaning in a single work of literature through careful reading and analysis. Applying natural language processing methods to aid in such literary analyses remains a challenge in digital humanities. While most previous work focuses on "distant reading" by algorithmically discovering high-level patterns from large collections of literary works, here we sharpen the focus of our methods to a single literary theory about Italo Calvino's postmodern novel Invisible Cities, which consists of 55 short descriptions of imaginary cities. Calvino has provided a classification of these cities into eleven thematic groups, but literary scholars disagree as to how trustworthy his categorization is. Due to the unique structure of this novel, we can computationally weigh in on this debate: we leverage pretrained contextualized representations to embed each city's description and use unsupervised methods to cluster these embeddings. Additionally, we compare results of our computational approach to similarity judgments generated by human readers. Our work is a first step towards incorporating natural language processing into literary criticism.