Case-based reasoning (CBR) as a methodology for problem-solving can use any appropriate computational technique. This position paper argues that CBR researchers have somewhat overlooked recent developments in deep learning and large language models (LLMs). The underlying technical developments that have enabled the recent breakthroughs in AI have strong synergies with CBR and could be used to provide a persistent memory for LLMs to make progress towards Artificial General Intelligence.
Station keeping is an essential maneuver for Autonomous Surface Vehicles (ASVs), mainly when used in confined spaces, to carry out surveys that require the ASV to keep its position or in collaboration with other vehicles where the relative position has an impact over the mission. However, this maneuver can become challenging for classic feedback controllers due to the need for an accurate model of the ASV dynamics and the environmental disturbances. This work proposes a Model Predictive Controller using Neural Network Simulation Error Minimization (NNSEM-MPC) to accurately predict the dynamics of the ASV under wind disturbances. The performance of the proposed scheme under wind disturbances is tested and compared against other controllers in simulation, using the Robotics Operating System (ROS) and the multipurpose simulation environment Gazebo. A set of six tests were conducted by combining two wind speeds (3 m/s and 6 m/s) and three wind directions (0$^\circ$, 90$^\circ$, and 180$^\circ$). The simulation results clearly show the advantage of the NNSEM-MPC over the following methods: backstepping controller, sliding mode controller, simplified dynamics MPC (SD-MPC), neural ordinary differential equation MPC (NODE-MPC), and knowledge-based NODE MPC (KNODE-MPC). The proposed NNSEM-MPC approach performs better than the rest in 4 out of the 6 test conditions, and it is the second best in the 2 remaining test cases, reducing the mean position and heading error by at least 31\% and 46\% respectively across all the test cases. In terms of execution speed, the proposed NNSEM-MPC is at least 36\% faster than the rest of the MPC controllers. The field experiments on two different ASV platforms showed that ASVs can effectively keep the station utilizing the proposed method, with a position error as low as $1.68$ m and a heading error as low as $6.14^{\circ}$ within time windows of at least $150$s.
Diffusion models (DMs) represent state-of-the-art generative models for continuous inputs. DMs work by constructing a Stochastic Differential Equation (SDE) in the input space (ie, position space), and using a neural network to reverse it. In this work, we introduce a novel generative modeling framework grounded in \textbf{phase space dynamics}, where a phase space is defined as {an augmented space encompassing both position and velocity.} Leveraging insights from Stochastic Optimal Control, we construct a path measure in the phase space that enables efficient sampling. {In contrast to DMs, our framework demonstrates the capability to generate realistic data points at an early stage of dynamics propagation.} This early prediction sets the stage for efficient data generation by leveraging additional velocity information along the trajectory. On standard image generation benchmarks, our model yields favorable performance over baselines in the regime of small Number of Function Evaluations (NFEs). Furthermore, our approach rivals the performance of diffusion models equipped with efficient sampling techniques, underscoring its potential as a new tool generative modeling.
This paper investigates the efficacy of utilizing fluid antenna system (FAS) at a legitimate monitor to oversee suspicious communication. The monitor switches the antenna position to minimize its outage probability for enhancing the monitoring performance. Our objective is to maximize the average monitoring rate, whose expression involves the integral of the first-order Marcum $Q$ function. The optimization problem, as initially posed, is non-convex owing to its objective function. Nevertheless, upon substituting with an upper bound, we provide a theoretical foundation confirming the existence of a unique optimal solution for the modified problem, achievable efficiently by the bisection search method. Furthermore, we also introduce a locally closed-form optimal resolution for maximizing the average monitoring rate. Empirical evaluations confirm that the proposed schemes outperform conventional benchmarks considerably.
Fingerprints have long been recognized as a unique and reliable means of personal identification. Central to the analysis and enhancement of fingerprints is the concept of the fingerprint core. Although the location of the core is used in many applications, to the best of our knowledge, this study is the first to investigate the empirical distribution of the core over a large, combined dataset of rolled, as well as plain fingerprint recordings. We identify and investigate the extent of incomplete rolling during the rolled fingerprint acquisition and investigate the centrality of the core. After correcting for the incomplete rolling, we find that the core deviates from the fingerprint center by 5.7% $\pm$ 5.2% to 7.6% $\pm$ 6.9%, depending on the finger. Additionally, we find that the assumption of normal distribution of the core position of plain fingerprint recordings cannot be rejected, but for rolled ones it can. Therefore, we use a multi-step process to find the distribution of the rolled fingerprint recordings. The process consists of an Anderson-Darling normality test, the Bayesian Information Criterion to reduce the number of possible candidate distributions and finally a Generalized Monte Carlo goodness-of-fit procedure to find the best fitting distribution. We find the non-central Fischer distribution best describes the cores' horizontal positions. Finally, we investigate the correlation between mean core position offset and the NFIQ 2 score and find that the NFIQ 2 prefers rolled fingerprint recordings where the core sits slightly below the fingerprint center.
In this position paper, we argue that instead of morally aligning LLMs to specific set of ethical principles, we should infuse generic ethical reasoning capabilities into them so that they can handle value pluralism at a global scale. When provided with an ethical policy, an LLM should be capable of making decisions that are ethically consistent to the policy. We develop a framework that integrates moral dilemmas with moral principles pertaining to different foramlisms of normative ethics, and at different levels of abstractions. Initial experiments with GPT-x models shows that while GPT-4 is a nearly perfect ethical reasoner, the models still have bias towards the moral values of Western and English speaking societies.
Product attribute value extraction plays an important role for many real-world applications in e-Commerce such as product search and recommendation. Previous methods treat it as a sequence labeling task that needs more annotation for position of values in the product text. This limits their application to real-world scenario in which only attribute values are weakly-annotated for each product without their position. Moreover, these methods only use product text (i.e., product title and description) and do not consider the semantic connection between the multiple attribute values of a given product and its text, which can help attribute value extraction. In this paper, we reformulate this task as a multi-label classification task that can be applied for real-world scenario in which only annotation of attribute values is available to train models (i.e., annotation of positional information of attribute values is not available). We propose a classification model with semantic matching and negative label sampling for attribute value extraction. Semantic matching aims to capture semantic interactions between attribute values of a given product and its text. Negative label sampling aims to enhance the model's ability of distinguishing similar values belonging to the same attribute. Experimental results on three subsets of a large real-world e-Commerce dataset demonstrate the effectiveness and superiority of our proposed model.
Delivering precise point and distributional forecasts across a spectrum of prediction horizons represents a significant and enduring challenge in the application of time-series forecasting within various industries. Prior research on developing deep learning models for time-series forecasting has often concentrated on isolated aspects, such as long-term point forecasting or short-term probabilistic estimations. This narrow focus may result in skewed methodological choices and hinder the adaptability of these models to uncharted scenarios. While there is a rising trend in developing universal forecasting models, a thorough understanding of their advantages and drawbacks, especially regarding essential forecasting needs like point and distributional forecasts across short and long horizons, is still lacking. In this paper, we present ProbTS, a benchmark tool designed as a unified platform to evaluate these fundamental forecasting needs and to conduct a rigorous comparative analysis of numerous cutting-edge studies from recent years. We dissect the distinctive data characteristics arising from disparate forecasting requirements and elucidate how these characteristics can skew methodological preferences in typical research trajectories, which often fail to fully accommodate essential forecasting needs. Building on this, we examine the latest models for universal time-series forecasting and discover that our analyses of methodological strengths and weaknesses are also applicable to these universal models. Finally, we outline the limitations inherent in current research and underscore several avenues for future exploration.
Positioning is an essential service for various applications and is expected to be integrated with existing communication infrastructures in 5G and 6G. Though current Wi-Fi and cellular base stations (BSs) can be used to support this integration, the resulting precision is unsatisfactory due to the lack of precise control of the wireless signals. Recently, BSs adopting reconfigurable holographic surfaces (RHSs) have been advocated for positioning as RHSs' large number of antenna elements enable generation of arbitrary and highly-focused signal beam patterns. However, existing designs face two major challenges: i) RHSs only have limited operating bandwidth, and ii) the positioning methods cannot adapt to the diverse environments encountered in practice. To overcome these challenges, we present HoloFed, a system providing high-precision environment-adaptive user positioning services by exploiting multi-band(MB)-RHS and federated learning (FL). For improving the positioning performance, a lower bound on the error variance is obtained and utilized for guiding MB-RHS's digital and analog beamforming design. For better adaptability while preserving privacy, an FL framework is proposed for users to collaboratively train a position estimator, where we exploit the transfer learning technique to handle the lack of position labels of the users. Moreover, a scheduling algorithm for the BS to select which users train the position estimator is designed, jointly considering the convergence and efficiency of FL. Our simulation results confirm that HoloFed achieves a 57% lower positioning error variance compared to a beam-scanning baseline and can effectively adapt to diverse environments.
Dominance is usually considered a constant value that describes the relative difference in fitness or phenotype between heterozygotes and the average of homozygotes at a focal polymorphic locus. However, the observed dominance can vary with the genetic background of the focal locus. Here, alleles at other loci modify the observed phenotype through position effects or dominance modifiers that are sometimes associated with pathogen resistance, lineage, sex, or mating type. Theoretical models have illustrated how variable dominance appears in the context of multi-locus interaction (epistasis). Here, we review empirical evidence for variable dominance and how the observed patterns may be captured by proposed epistatic models. We highlight how integrating epistasis and dominance is crucial for comprehensively understanding adaptation and speciation.
Autonomous mobile robot competitions judge based on a robot's ability to quickly and accurately navigate the game field. This means accurate localization is crucial for creating an autonomous competition robot. Two common localization methods are odometry and computer vision landmark detection. Odometry provides frequent velocity measurements, while landmark detection provides infrequent position measurements. The state can also be predicted with a physics model. These three types of localization can be "fused" to create a more accurate state estimate using an Extended Kalman Filter (EKF). The EKF is a nonlinear full-state estimator that approximates the state estimate with the lowest covariance error when given the sensor measurements, the model prediction, and their variances. In this paper, we demonstrate the effectiveness of the EKF by implementing it on a 4-wheel mecanum-drive robot simulation. The position and velocity accuracy of fusing together various combinations of these three data sources are compared. We also discuss the assumptions and limitations of an EKF.
In long context scenarios, large language models (LLMs) face three main challenges: higher computational cost, performance reduction, and position bias. Research indicates that LLM performance hinges on the density and position of key information in the input prompt. Inspired by these findings, we propose LongLLMLingua for prompt compression towards improving LLMs' perception of the key information to simultaneously address the three challenges. Our extensive evaluation across various long context scenarios demonstrates that LongLLMLingua not only enhances performance but also significantly reduces costs and latency. For instance, in the NaturalQuestions benchmark, LongLLMLingua boosts performance by up to 21.4% with around 4x fewer tokens in GPT-3.5-Turbo, leading to substantial cost savings. It achieves a 94.0% cost reduction in the LooGLE benchmark. Moreover, when compressing prompts of about 10k tokens at ratios of 2x-6x, LongLLMLingua can accelerate end-to-end latency by 1.4x-2.6x. Our code is available at https://aka.ms/LongLLMLingua.
Machine learning methods are progressively gaining acceptance in the electron microscopy community for de-noising, semantic segmentation, and dimensionality reduction of data post-acquisition. The introduction of the APIs by major instrument manufacturers now allows the deployment of ML workflows in microscopes, not only for data analytics but also for real-time decision-making and feedback for microscope operation. However, the number of use cases for real-time ML remains remarkably small. Here, we discuss some considerations in designing ML-based active experiments and pose that the likely strategy for the next several years will be human-in-the-loop automated experiments (hAE). In this paradigm, the ML learning agent directly controls beam position and image and spectroscopy acquisition functions, and human operator monitors experiment progression in real- and feature space of the system and tunes the policies of the ML agent to steer the experiment towards specific objectives.
Position encoding is the primary mechanism which induces notion of sequential order for input tokens in transformer architectures. Even though this formulation in the original transformer paper has yielded plausible performance for general purpose language understanding and generation, several new frameworks such as Rotary Position Embedding (RoPE) are proposed for further enhancement. In this paper, we introduce the notion of "geotokens" which are input elements for transformer architectures, each representing an information related to a geological location. Unlike the natural language the sequential position is not important for the model but the geographical coordinates are. In order to induce the concept of relative position for such a setting and maintain the proportion between the physical distance and distance on embedding space, we formulate a position encoding mechanism based on RoPE architecture which is adjusted for spherical coordinates.
The legal domain is a vast and complex field that involves a considerable amount of text analysis, including laws, legal arguments, and legal opinions. Legal practitioners must analyze these texts to understand legal cases, research legal precedents, and prepare legal documents. The size of legal opinions continues to grow, making it increasingly challenging to develop a model that can accurately predict the rhetorical roles of legal opinions given their complexity and diversity. In this research paper, we propose a novel model architecture for automatically predicting rhetorical roles using pre-trained language models (PLMs) enhanced with knowledge of sentence position information within a document. Based on an annotated corpus from the LegalEval@SemEval2023 competition, we demonstrate that our approach requires fewer parameters, resulting in lower computational costs when compared to complex architectures employing a hierarchical model in a global-context, yet it achieves great performance. Moreover, we show that adding more attention to a hierarchical model based only on BERT in the local-context, along with incorporating sentence position information, enhances the results.
Pretrained multilingual encoder models can directly perform zero-shot multilingual tasks or linguistic probing by reformulating the input examples into cloze-style prompts. This is accomplished by predicting the probabilities of the label words at the masked token position, without requiring any updates to the model parameters. However, the performance of this method is limited by the model's bias toward predicting label words which frequently occurred during the pretraining. These words typically receive high probabilities. To address this issue, we combine the models with calibration techniques which modify the probabilities of label words predicted by the models. We first validate the effectiveness of a proposed simple calibration method together with other existing techniques on monolingual encoders in both zero- and few-shot scenarios. We subsequently employ these calibration techniques on multilingual encoders, resulting in substantial performance improvements across a wide range of tasks.
Performing tasks in agriculture, such as fruit monitoring or harvesting, requires perceiving the objects' spatial position. RGB-D cameras are limited under open-field environments due to lightning interferences. So, in this study, we state to answer the research question: "How can we use and control monocular sensors to perceive objects' position in the 3D task space?" Towards this aim, we approached histogram filters (Bayesian discrete filters) to estimate the position of tomatoes in the tomato plant through the algorithm MonoVisual3DFilter. Two kernel filters were studied: the square kernel and the Gaussian kernel. The implemented algorithm was essayed in simulation, with and without Gaussian noise and random noise, and in a testbed at laboratory conditions. The algorithm reported a mean absolute error lower than 10 mm in simulation and 20 mm in the testbed at laboratory conditions with an assessing distance of about 0.5 m. So, the results are viable for real environments and should be improved at closer distances.
Transformers are widely used to extract semantic meanings from input tokens, yet they usually operate as black-box models. In this paper, we present a simple yet informative decomposition of hidden states (or embeddings) of trained transformers into interpretable components. For any layer, embedding vectors of input sequence samples are represented by a tensor $\boldsymbol{h} \in \mathbb{R}^{C \times T \times d}$. Given embedding vector $\boldsymbol{h}_{c,t} \in \mathbb{R}^d$ at sequence position $t \le T$ in a sequence (or context) $c \le C$, extracting the mean effects yields the decomposition \[ \boldsymbol{h}_{c,t} = \boldsymbol{\mu} + \mathbf{pos}_t + \mathbf{ctx}_c + \mathbf{resid}_{c,t} \] where $\boldsymbol{\mu}$ is the global mean vector, $\mathbf{pos}_t$ and $\mathbf{ctx}_c$ are the mean vectors across contexts and across positions respectively, and $\mathbf{resid}_{c,t}$ is the residual vector. For popular transformer architectures and diverse text datasets, empirically we find pervasive mathematical structure: (1) $(\mathbf{pos}_t)_{t}$ forms a low-dimensional, continuous, and often spiral shape across layers, (2) $(\mathbf{ctx}_c)_c$ shows clear cluster structure that falls into context topics, and (3) $(\mathbf{pos}_t)_{t}$ and $(\mathbf{ctx}_c)_c$ are mutually nearly orthogonal. We argue that smoothness is pervasive and beneficial to transformers trained on languages, and our decomposition leads to improved model interpretability.
Numerous forms of consumer-generated media (CGM), such as social networking services (SNS), are widely used. Their success relies on users' voluntary participation, often driven by psychological rewards like recognition and connection from reactions by other users. Furthermore, a few CGM platforms offer monetary rewards to users, serving as incentives for sharing items such as articles, images, and videos. However, users have varying preferences for monetary and psychological rewards, and the impact of monetary rewards on user behaviors and the quality of the content they post remains unclear. Hence, we propose a model that integrates some monetary reward schemes into the SNS-norms game, which is an abstraction of CGM. Subsequently, we investigate the effect of each monetary reward scheme on individual agents (users), particularly in terms of their proactivity in posting items and their quality, depending on agents' positions in a CGM network. Our experimental results suggest that these factors distinctly affect the number of postings and their quality. We believe that our findings will help CGM platformers in designing better monetary reward schemes.
Addressing the challenge of organizing scattered items in domestic spaces is complicated by the diversity and subjective nature of tidiness. Just as the complexity of human language allows for multiple expressions of the same idea, household tidiness preferences and organizational patterns vary widely, so presetting object locations would limit the adaptability to new objects and environments. Inspired by advancements in natural language processing (NLP), this paper introduces a self-supervised learning framework that allows robots to understand and replicate the concept of tidiness from demonstrations of well-organized layouts, akin to using conversational datasets to train Large Language Models(LLM). We leverage a transformer neural network to predict the placement of subsequent objects. We demonstrate a ``knolling'' system with a robotic arm and an RGB camera to organize items of varying sizes and quantities on a table. Our method not only trains a generalizable concept of tidiness, enabling the model to provide diverse solutions and adapt to different numbers of objects, but it can also incorporate human preferences to generate customized tidy tables without explicit target positions for each object.