Denoising and Adaptive Online Vertical Federated Learning for Sequential Multi-Sensor Data in Industrial Internet of Things

With the continuous improvement in the computational capabilities of edge devices such as intelligent sensors in the Industrial Internet of Things, these sensors are no longer limited to mere data collection but are increasingly capable of performing complex computational tasks. This advancement provides both the motivation and the foundation for adopting distributed learning approaches. This study focuses on an industrial assembly line scenario where multiple sensors, distributed across various locations, sequentially collect real-time data characterized by distinct feature spaces. To leverage the computational potential of these sensors while addressing the challenges of communication overhead and privacy concerns inherent in centralized learning, we propose the Denoising and Adaptive Online Vertical Federated Learning (DAO-VFL) algorithm. Tailored to the industrial assembly line scenario, DAO-VFL effectively manages continuous data streams and adapts to shifting learning objectives. Furthermore, it can address critical challenges prevalent in industrial environment, such as communication noise and heterogeneity of sensor capabilities. To support the proposed algorithm, we provide a comprehensive theoretical analysis, highlighting the effects of noise reduction and adaptive local iteration decisions on the regret bound. Experimental results on two real-world datasets further demonstrate the superior performance of DAO-VFL compared to benchmarks algorithms.

Knowledge Editing with Dynamic Knowledge Graphs for Multi-hop Question Answering

Multi-hop question answering (MHQA) poses a significant challenge for large language models (LLMs) due to the extensive knowledge demands involved. Knowledge editing, which aims to precisely modify the LLMs to incorporate specific knowledge without negatively impacting other unrelated knowledge, offers a potential solution for addressing MHQA challenges with LLMs. However, current solutions struggle to effectively resolve issues of knowledge conflicts. Most parameter-preserving editing methods are hindered by inaccurate retrieval and overlook secondary editing issues, which can introduce noise into the reasoning process of LLMs. In this paper, we introduce KEDKG, a novel knowledge editing method that leverages a dynamic knowledge graph for MHQA, designed to ensure the reliability of answers. KEDKG involves two primary steps: dynamic knowledge graph construction and knowledge graph augmented generation. Initially, KEDKG autonomously constructs a dynamic knowledge graph to store revised information while resolving potential knowledge conflicts. Subsequently, it employs a fine-grained retrieval strategy coupled with an entity and relation detector to enhance the accuracy of graph retrieval for LLM generation. Experimental results on benchmarks show that KEDKG surpasses previous state-of-the-art models, delivering more accurate and reliable answers in environments with dynamic information.

Impromptu Cybercrime Euphemism Detection

Detecting euphemisms is essential for content security on various social media platforms, but existing methods designed for detecting euphemisms are ineffective in impromptu euphemisms. In this work, we make a first attempt to an exploration of impromptu euphemism detection and introduce the Impromptu Cybercrime Euphemisms Detection (ICED) dataset. Moreover, we propose a detection framework tailored to this problem, which employs context augmentation modeling and multi-round iterative training. Our detection framework mainly consists of a coarse-grained and a fine-grained classification model. The coarse-grained classification model removes most of the harmless content in the corpus to be detected. The fine-grained model, impromptu euphemisms detector, integrates context augmentation and multi-round iterations training to better predicts the actual meaning of a masked token. In addition, we leverage ChatGPT to evaluate the mode's capability. Experimental results demonstrate that our approach achieves a remarkable 76-fold improvement compared to the previous state-of-the-art euphemism detector.

Proactive Agent: Shifting LLM Agents from Reactive Responses to Active Assistance

Agents powered by large language models have shown remarkable abilities in solving complex tasks. However, most agent systems remain reactive, limiting their effectiveness in scenarios requiring foresight and autonomous decision-making. In this paper, we tackle the challenge of developing proactive agents capable of anticipating and initiating tasks without explicit human instructions. We propose a novel data-driven approach for this problem. Firstly, we collect real-world human activities to generate proactive task predictions. These predictions are then labeled by human annotators as either accepted or rejected. The labeled data is used to train a reward model that simulates human judgment and serves as an automatic evaluator of the proactiveness of LLM agents. Building on this, we develop a comprehensive data generation pipeline to create a diverse dataset, ProactiveBench, containing 6,790 events. Finally, we demonstrate that fine-tuning models with the proposed ProactiveBench can significantly elicit the proactiveness of LLM agents. Experimental results show that our fine-tuned model achieves an F1-Score of 66.47% in proactively offering assistance, outperforming all open-source and close-source models. These results highlight the potential of our method in creating more proactive and effective agent systems, paving the way for future advancements in human-agent collaboration.

HE-Nav: A High-Performance and Efficient Navigation System for Aerial-Ground Robots in Cluttered Environments

Existing AGR navigation systems have advanced in lightly occluded scenarios (e.g., buildings) by employing 3D semantic scene completion networks for voxel occupancy prediction and constructing Euclidean Signed Distance Field (ESDF) maps for collision-free path planning. However, these systems exhibit suboptimal performance and efficiency in cluttered environments with severe occlusions (e.g., dense forests or tall walls), due to limitations arising from perception networks' low prediction accuracy and path planners' high computational overhead. In this paper, we present HE-Nav, the first high-performance and efficient navigation system tailored for AGRs operating in cluttered environments. The perception module utilizes a lightweight semantic scene completion network (LBSCNet), guided by a bird's eye view (BEV) feature fusion and enhanced by an exquisitely designed SCB-Fusion module and attention mechanism. This enables real-time and efficient obstacle prediction in cluttered areas, generating a complete local map. Building upon this completed map, our novel AG-Planner employs the energy-efficient kinodynamic A* search algorithm to guarantee planning is energy-saving. Subsequent trajectory optimization processes yield safe, smooth, dynamically feasible and ESDF-free aerial-ground hybrid paths. Extensive experiments demonstrate that HE-Nav achieved 7x energy savings in real-world situations while maintaining planning success rates of 98% in simulation scenarios. Code and video are available on our project page: https://jmwang0117.github.io/HE-Nav/.

Small Language Models: Survey, Measurements, and Insights

Small language models (SLMs), despite their widespread adoption in modern smart devices, have received significantly less academic attention compared to their large language model (LLM) counterparts, which are predominantly deployed in data centers and cloud environments. While researchers continue to improve the capabilities of LLMs in the pursuit of artificial general intelligence, SLM research aims to make machine intelligence more accessible, affordable, and efficient for everyday tasks. Focusing on transformer-based, decoder-only language models with 100M-5B parameters, we survey 59 state-of-the-art open-source SLMs, analyzing their technical innovations across three axes: architectures, training datasets, and training algorithms. In addition, we evaluate their capabilities in various domains, including commonsense reasoning, in-context learning, mathematics, and coding. To gain further insight into their on-device runtime costs, we benchmark their inference latency and memory footprints. Through in-depth analysis of our benchmarking data, we offer valuable insights to advance research in this field.

OMEGA: Efficient Occlusion-Aware Navigation for Air-Ground Robot in Dynamic Environments via State Space Model

Air-ground robots (AGRs) are widely used in surveillance and disaster response due to their exceptional mobility and versatility (i.e., flying and driving). Current AGR navigation systems perform well in static occlusion-prone environments (e.g., indoors) by using 3D semantic occupancy networks to predict occlusions for complete local mapping and then computing Euclidean Signed Distance Field (ESDF) for path planning. However, these systems face challenges in dynamic, severe occlusion scenes (e.g., crowds) due to limitations in perception networks' low prediction accuracy and path planners' high computation overhead. In this paper, we propose OMEGA, which contains OccMamba with an Efficient AGR-Planner to address the above-mentioned problems. OccMamba adopts a novel architecture that separates semantic and occupancy prediction into independent branches, incorporating two mamba blocks within these branches. These blocks efficiently extract semantic and geometric features in 3D environments with linear complexity, ensuring that the network can learn long-distance dependencies to improve prediction accuracy. Semantic and geometric features are combined within the Bird's Eye View (BEV) space to minimise computational overhead during feature fusion. The resulting semantic occupancy map is then seamlessly integrated into the local map, providing occlusion awareness of the dynamic environment. Our AGR-Planner utilizes this local map and employs kinodynamic A* search and gradient-based trajectory optimization to guarantee planning is ESDF-free and energy-efficient. Extensive experiments demonstrate that OccMamba outperforms the state-of-the-art 3D semantic occupancy network with 25.0% mIoU. End-to-end navigation experiments in dynamic scenes verify OMEGA's efficiency, achieving a 96% average planning success rate. Code and video are available at https://jmwang0117.github.io/OMEGA/.

Hybrid-Parallel: Achieving High Performance and Energy Efficient Distributed Inference on Robots

The rapid advancements in machine learning techniques have led to significant achievements in various real-world robotic tasks. These tasks heavily rely on fast and energy-efficient inference of deep neural network (DNN) models when deployed on robots. To enhance inference performance, distributed inference has emerged as a promising approach, parallelizing inference across multiple powerful GPU devices in modern data centers using techniques such as data parallelism, tensor parallelism, and pipeline parallelism. However, when deployed on real-world robots, existing parallel methods fail to provide low inference latency and meet the energy requirements due to the limited bandwidth of robotic IoT. We present Hybrid-Parallel, a high-performance distributed inference system optimized for robotic IoT. Hybrid-Parallel employs a fine-grained approach to parallelize inference at the granularity of local operators within DNN layers (i.e., operators that can be computed independently with the partial input, such as the convolution kernel in the convolution layer). By doing so, Hybrid-Parallel enables different operators of different layers to be computed and transmitted concurrently, and overlap the computation and transmission phases within the same inference task. The evaluation demonstrate that Hybrid-Parallel reduces inference time by 14.9% ~41.1% and energy consumption per inference by up to 35.3% compared to the state-of-the-art baselines.

TrimCaching: Parameter-sharing AI Model Caching in Wireless Edge Networks

Next-generation mobile networks are expected to facilitate fast AI model downloading to end users. By caching models on edge servers, mobile networks can deliver models to end users with low latency, resulting in a paradigm called edge model caching. In this paper, we develop a novel model placement scheme, called parameter-sharing model caching (TrimCaching). TrimCaching exploits the key observation that a wide range of AI models, such as convolutional neural networks or large language models, can share a significant proportion of parameter blocks containing reusable knowledge, thereby improving storage efficiency. To this end, we formulate a parameter-sharing model placement problem to maximize the cache hit ratio in multi-edge wireless networks by balancing the fundamental tradeoff between storage efficiency and service latency. We show that the formulated problem is a submodular maximization problem with submodular constraints, for which no polynomial-time approximation algorithm exists. To overcome this challenge, we study an important special case, where a small fixed number of parameter blocks are shared across models, which often holds in practice. In such a case, a polynomial-time algorithm with $\left(1-\epsilon\right)/2$-approximation guarantee is developed. Subsequently, we address the original problem for the general case by developing a greedy algorithm. Simulation results demonstrate that the proposed TrimCaching framework significantly improves the cache hit ratio compared with state-of-the-art content caching without exploiting shared parameters in AI models.

Opara: Exploiting Operator Parallelism for Expediting DNN Inference on GPUs

GPUs have become the defacto hardware devices to accelerate Deep Neural Network (DNN) inference in deep learning(DL) frameworks. However, the conventional sequential execution mode of DNN operators in mainstream DL frameworks cannot fully utilize GPU resources, due to the increasing complexity of DNN model structures and the progressively smaller computational sizes of DNN operators. Moreover, the inadequate operator launch order in parallelized execution scenarios can lead to GPU resource wastage and unexpected performance interference among operators. To address such performance issues above, we propose Opara, a resource- and interference-aware DNN Operator parallel scheduling framework to accelerate the execution of DNN inference on GPUs. Specifically, Opara first employs CUDA Streams and CUDA Graph to automatically parallelize the execution of multiple DNN operators. It further leverages the resource demands of DNN operators to judiciously adjust the operator launch order on GPUs by overlapping the execution of compute-intensive and memory-intensive operators, so as to expedite DNN inference. We implement and open source a prototype of Opara based on PyTorch in a non-intrusive manner. Extensive prototype experiments with representative DNN and Transformer-based models demonstrate that Opara outperforms the default sequential CUDA Graph in PyTorch and the state-of-the-art DNN operator parallelism systems by up to 1.68$\times$ and 1.29$\times$, respectively, yet with acceptable runtime overhead.