Teleoperation can be very difficult due to limited perception, high communication latency, and limited degrees of freedom (DoFs) at the operator side. Autonomous teleoperation is proposed to overcome this difficulty by predicting user intentions and performing some parts of the task autonomously to decrease the demand on the operator and increase the task completion rate. However, decision-making for mode-switching is generally assumed to be done by the operator, which brings an extra DoF to be controlled by the operator and introduces extra mental demand. On the other hand, the communication perspective is not investigated in the current literature, although communication imperfections and resource limitations are the main bottlenecks for teleoperation. In this study, we propose an intelligent mode-switching framework by jointly considering mode-switching and communication systems. User intention recognition is done at the operator side. Based on user intention recognition, a deep reinforcement learning (DRL) agent is trained and deployed at the operator side to seamlessly switch between autonomous and teleoperation modes. A real-world data set is collected from our teleoperation testbed to train both user intention recognition and DRL algorithms. Our results show that the proposed framework can achieve up to 50% communication load reduction with improved task completion probability.

Gradient coding schemes effectively mitigate full stragglers in distributed learning by introducing identical redundancy in coded local partial derivatives corresponding to all model parameters. However, they are no longer effective for partial stragglers as they cannot utilize incomplete computation results from partial stragglers. This paper aims to design a new gradient coding scheme for mitigating partial stragglers in distributed learning. Specifically, we consider a distributed system consisting of one master and N workers, characterized by a general partial straggler model and focuses on solving a general large-scale machine learning problem with L model parameters using gradient coding. First, we propose a coordinate gradient coding scheme with L coding parameters representing L possibly different diversities for the L coordinates, which generates most gradient coding schemes. Then, we consider the minimization of the expected overall runtime and the maximization of the completion probability with respect to the L coding parameters for coordinates, which are challenging discrete optimization problems. To reduce computational complexity, we first transform each to an equivalent but much simpler discrete problem with N\llL variables representing the partition of the L coordinates into N blocks, each with identical redundancy. This indicates an equivalent but more easily implemented block coordinate gradient coding scheme with N coding parameters for blocks. Then, we adopt continuous relaxation to further reduce computational complexity. For the resulting minimization of expected overall runtime, we develop an iterative algorithm of computational complexity O(N^2) to obtain an optimal solution and derive two closed-form approximate solutions both with computational complexity O(N). For the resultant maximization of the completion probability, we develop an iterative algorithm of...

American football is an increasingly popular sport, with a growing audience in many countries in the world. The most watched American football league in the world is the United States' National Football League (NFL), where every offensive play can be either a run or a pass, and in this work we focus on passes. Many factors can affect the probability of pass completion, such as receiver separation from the nearest defender, distance from receiver to passer, offense formation, among many others. When predicting the completion probability of a pass, it is essential to know who the target of the pass is. By using distance measures between players and the ball, it is possible to calculate empirical probabilities and predict very accurately who the target will be. The big question is: how likely is it for a pass to be completed in an NFL match while the ball is in the air? We developed a machine learning algorithm to answer this based on several predictors. Using data from the 2018 NFL season, we obtained conditional and marginal predictions for pass completion probability based on a random forest model. This is based on a two-stage procedure: first, we calculate the probability of each offensive player being the pass target, then, conditional on the target, we predict completion probability based on the random forest model. Finally, the general completion probability can be calculated using the law of total probability. We present animations for selected plays and show the pass completion probability evolution.