Personalized Federated Learning for Cross-view Geo-localization

In this paper we propose a methodology combining Federated Learning (FL) with Cross-view Image Geo-localization (CVGL) techniques. We address the challenges of data privacy and heterogeneity in autonomous vehicle environments by proposing a personalized Federated Learning scenario that allows selective sharing of model parameters. Our method implements a coarse-to-fine approach, where clients share only the coarse feature extractors while keeping fine-grained features specific to local environments. We evaluate our approach against traditional centralized and single-client training schemes using the KITTI dataset combined with satellite imagery. Results demonstrate that our federated CVGL method achieves performance close to centralized training while maintaining data privacy. The proposed partial model sharing strategy shows comparable or slightly better performance than classical FL, offering significant reduced communication overhead without sacrificing accuracy. Our work contributes to more robust and privacy-preserving localization systems for autonomous vehicles operating in diverse environments

Decentralized Personalized Federated Learning based on a Conditional Sparse-to-Sparser Scheme

Decentralized Federated Learning (DFL) has become popular due to its robustness and avoidance of centralized coordination. In this paradigm, clients actively engage in training by exchanging models with their networked neighbors. However, DFL introduces increased costs in terms of training and communication. Existing methods focus on minimizing communication often overlooking training efficiency and data heterogeneity. To address this gap, we propose a novel \textit{sparse-to-sparser} training scheme: DA-DPFL. DA-DPFL initializes with a subset of model parameters, which progressively reduces during training via \textit{dynamic aggregation} and leads to substantial energy savings while retaining adequate information during critical learning periods. Our experiments showcase that DA-DPFL substantially outperforms DFL baselines in test accuracy, while achieving up to $5$ times reduction in energy costs. We provide a theoretical analysis of DA-DPFL's convergence by solidifying its applicability in decentralized and personalized learning. The code is available at:https://github.com/EricLoong/da-dpfl

FedDIP: Federated Learning with Extreme Dynamic Pruning and Incremental Regularization

Federated Learning (FL) has been successfully adopted for distributed training and inference of large-scale Deep Neural Networks (DNNs). However, DNNs are characterized by an extremely large number of parameters, thus, yielding significant challenges in exchanging these parameters among distributed nodes and managing the memory. Although recent DNN compression methods (e.g., sparsification, pruning) tackle such challenges, they do not holistically consider an adaptively controlled reduction of parameter exchange while maintaining high accuracy levels. We, therefore, contribute with a novel FL framework (coined FedDIP), which combines (i) dynamic model pruning with error feedback to eliminate redundant information exchange, which contributes to significant performance improvement, with (ii) incremental regularization that can achieve \textit{extreme} sparsity of models. We provide convergence analysis of FedDIP and report on a comprehensive performance and comparative assessment against state-of-the-art methods using benchmark data sets and DNN models. Our results showcase that FedDIP not only controls the model sparsity but efficiently achieves similar or better performance compared to other model pruning methods adopting incremental regularization during distributed model training. The code is available at: https://github.com/EricLoong/feddip.

Real time enhancement of operator's ergonomics in physical human - robot collaboration scenarios using a multi-stereo camera system

In collaborative tasks where humans work alongside machines, the robot's movements and behaviour can have a significant impact on the operator's safety, health, and comfort. To address this issue, we present a multi-stereo camera system that continuously monitors the operator's posture while they work with the robot. This system uses a novel distributed fusion approach to assess the operator's posture in real-time and to help avoid uncomfortable or unsafe positions. The system adjusts the robot's movements and informs the operator of any incorrect or potentially harmful postures, reducing the risk of accidents, strain, and musculoskeletal disorders. The analysis is personalized, taking into account the unique anthropometric characteristics of each operator, to ensure optimal ergonomics. The results of our experiments show that the proposed approach leads to improved human body postures and offers a promising solution for enhancing the ergonomics of operators in collaborative tasks.

Optimizing Vision Transformers for Medical Image Segmentation and Few-Shot Domain Adaptation

The adaptation of transformers to computer vision is not straightforward because the modelling of image contextual information results in quadratic computational complexity with relation to the input features. Most of existing methods require extensive pre-training on massive datasets such as ImageNet and therefore their application to fields such as healthcare is less effective. CNNs are the dominant architecture in computer vision tasks because convolutional filters can effectively model local dependencies and reduce drastically the parameters required. However, convolutional filters cannot handle more complex interactions, which are beyond a small neighbour of pixels. Furthermore, their weights are fixed after training and thus they do not take into consideration changes in the visual input. Inspired by recent work on hybrid visual transformers with convolutions and hierarchical transformers, we propose Convolutional Swin-Unet (CS-Unet) transformer blocks and optimise their settings with relation to patch embedding, projection, the feed-forward network, up sampling and skip connections. CS-Unet can be trained from scratch and inherits the superiority of convolutions in each feature process phase. It helps to encode precise spatial information and produce hierarchical representations that contribute to object concepts at various scales. Experiments show that CS-Unet without pre-training surpasses other state-of-the-art counterparts by large margins on two medical CT and MRI datasets with fewer parameters. In addition, two domain-adaptation experiments on optic disc and polyp image segmentation further prove that our method is highly generalizable and effectively bridges the domain gap between images from different sources.

Improving Sequential Query Recommendation with Immediate User Feedback

We propose an algorithm for next query recommendation in interactive data exploration settings, like knowledge discovery for information gathering. The state-of-the-art query recommendation algorithms are based on sequence-to-sequence learning approaches that exploit historical interaction data. We propose to augment the transformer-based causal language models for query recommendations to adapt to the immediate user feedback using multi-armed bandit (MAB) framework. We conduct a large-scale experimental study using log files from a popular online literature discovery service and demonstrate that our algorithm improves the cumulative regret substantially, with respect to the state-of-the-art transformer-based query recommendation models, which do not make use of the immediate user feedback. Our data model and source code are available at ~\url{https://anonymous.4open.science/r/exp3_ss-9985/}.

Max-Utility Based Arm Selection Strategy For Sequential Query Recommendations

We consider the query recommendation problem in closed loop interactive learning settings like online information gathering and exploratory analytics. The problem can be naturally modelled using the Multi-Armed Bandits (MAB) framework with countably many arms. The standard MAB algorithms for countably many arms begin with selecting a random set of candidate arms and then applying standard MAB algorithms, e.g., UCB, on this candidate set downstream. We show that such a selection strategy often results in higher cumulative regret and to this end, we propose a selection strategy based on the maximum utility of the arms. We show that in tasks like online information gathering, where sequential query recommendations are employed, the sequences of queries are correlated and the number of potentially optimal queries can be reduced to a manageable size by selecting queries with maximum utility with respect to the currently executing query. Our experimental results using a recent real online literature discovery service log file demonstrate that the proposed arm selection strategy improves the cumulative regret substantially with respect to the state-of-the-art baseline algorithms. % and commonly used random selection strategy for a variety of contextual multi-armed bandit algorithms. Our data model and source code are available at ~\url{https://anonymous.4open.science/r/0e5ad6b7-ac02-4577-9212-c9d505d3dbdb/}.

A Proactive Management Scheme for Data Synopses at the Edge

The combination of the infrastructure provided by the Internet of Things (IoT) with numerous processing nodes present at the Edge Computing (EC) ecosystem opens up new pathways to support intelligent applications. Such applications can be provided upon humongous volumes of data collected by IoT devices being transferred to the edge nodes through the network. Various processing activities can be performed on the discussed data and multiple collaborative opportunities between EC nodes can facilitate the execution of the desired tasks. In order to support an effective interaction between edge nodes, the knowledge about the geographically distributed data should be shared. Obviously, the migration of large amounts of data will harm the stability of the network stability and its performance. In this paper, we recommend the exchange of data synopses than real data between EC nodes to provide them with the necessary knowledge about peer nodes owning similar data. This knowledge can be valuable when considering decisions such as data/service migration and tasks offloading. We describe an continuous reasoning model that builds a temporal similarity map of the available datasets to get nodes understanding the evolution of data in their peers. We support the proposed decision making mechanism through an intelligent similarity extraction scheme based on an unsupervised machine learning model, and, at the same time, combine it with a statistical measure that represents the trend of the so-called discrepancy quantum. Our model can reveal the differences in the exchanged synopses and provide a datasets similarity map which becomes the appropriate knowledge base to support the desired processing activities. We present the problem under consideration and suggest a solution for that, while, at the same time, we reveal its advantages and disadvantages through a large number of experiments.

Cooperative Multi-Modal Localization in Connected and Autonomous Vehicles

Cooperative Localization is expected to play a crucial role in various applications in the field of Connected and Autonomous vehicles (CAVs). Future 5G wireless systems are expected to enable cost-effective Vehicle-to-Everything (V2X)systems, allowing CAVs to share with the other entities of the network the data they collect and measure. Typical measurement models usually deployed for this problem, are absolute position from Global Positioning System (GPS), relative distance and azimuth angle to neighbouring vehicles, extracted from Light Detection and Ranging (LIDAR) or Radio Detection and Ranging(RADAR) sensors. In this paper, we provide a cooperative localization approach that performs multi modal-fusion between the interconnected vehicles, by representing a fleet of connected cars as an undirected graph, encoding each vehicle position relative to its neighbouring vehicles. This method is based on:i) the Laplacian Processing, a Graph Signal Processing tool that allows to capture intrinsic geometry of the undirected graph of vehicles rather than their absolute position on global coordinate system and ii) the temporal coherence due to motion patterns of the moving vehicles.

An Intelligent Edge-Centric Queries Allocation Scheme based on Ensemble Models

The combination of Internet of Things (IoT) and Edge Computing (EC) can assist in the delivery of novel applications that will facilitate end users activities. Data collected by numerous devices present in the IoT infrastructure can be hosted into a set of EC nodes becoming the subject of processing tasks for the provision of analytics. Analytics are derived as the result of various queries defined by end users or applications. Such queries can be executed in the available EC nodes to limit the latency in the provision of responses. In this paper, we propose a meta-ensemble learning scheme that supports the decision making for the allocation of queries to the appropriate EC nodes. Our learning model decides over queries' and nodes' characteristics. We provide the description of a matching process between queries and nodes after concluding the contextual information for each envisioned characteristic adopted in our meta-ensemble scheme. We rely on widely known ensemble models, combine them and offer an additional processing layer to increase the performance. The aim is to result a subset of EC nodes that will host each incoming query. Apart from the description of the proposed model, we report on its evaluation and the corresponding results. Through a large set of experiments and a numerical analysis, we aim at revealing the pros and cons of the proposed scheme.