Harnessing the Power of Vibration Motors to Develop Miniature Untethered Robotic Fishes

Miniature underwater robots play a crucial role in the exploration and development of marine resources, particularly in confined spaces and high-pressure deep-sea environments. This study presents the design, optimization, and performance of a miniature robotic fish, powered by the oscillation of bio-inspired fins. These fins feature a rigid-flexible hybrid structure and use an eccentric rotating mass (ERM) vibration motor as the excitation source to generate high-frequency unidirectional oscillations that induce acoustic streaming for propulsion. The drive mechanism, powered by miniature ERM vibration motors, eliminates the need for complex mechanical drive systems, enabling complete isolation of the entire drive system from the external environment and facilitating the miniaturization of the robotic fish. A compact, untethered robotic fish, measuring 85*60*45 mm^3, is equipped with three bio-inspired fins located at the pectoral and caudal positions. Experimental results demonstrate that the robotic fish achieves a maximum forward swimming speed of 1.36 body lengths (BL) per second powered by all fins and minimum turning radius of 0.6 BL when powered by a single fin. These results underscore the significance of employing the ERM vibration motor in advancing the development of highly maneuverable, miniature untethered underwater robots for various marine exploration tasks.

On Multi-Stage Loss Dynamics in Neural Networks: Mechanisms of Plateau and Descent Stages

The multi-stage phenomenon in the training loss curves of neural networks has been widely observed, reflecting the non-linearity and complexity inherent in the training process. In this work, we investigate the training dynamics of neural networks (NNs), with particular emphasis on the small initialization regime, identifying three distinct stages observed in the loss curve during training: the initial plateau stage, the initial descent stage, and the secondary plateau stage. Through rigorous analysis, we reveal the underlying challenges contributing to slow training during the plateau stages. While the proof and estimate for the emergence of the initial plateau were established in our previous work, the behaviors of the initial descent and secondary plateau stages had not been explored before. Here, we provide a more detailed proof for the initial plateau, followed by a comprehensive analysis of the initial descent stage dynamics. Furthermore, we examine the factors facilitating the network's ability to overcome the prolonged secondary plateau, supported by both experimental evidence and heuristic reasoning. Finally, to clarify the link between global training trends and local parameter adjustments, we use the Wasserstein distance to track the fine-scale evolution of weight amplitude distribution.

Analyzing Multi-Stage Loss Curve: Plateau and Descent Mechanisms in Neural Networks

The multi-stage phenomenon in the training loss curves of neural networks has been widely observed, reflecting the non-linearity and complexity inherent in the training process. In this work, we investigate the training dynamics of neural networks (NNs), with particular emphasis on the small initialization regime and identify three distinct stages observed in the loss curve during training: initial plateau stage, initial descent stage, and secondary plateau stage. Through rigorous analysis, we reveal the underlying challenges causing slow training during the plateau stages. Building on existing work, we provide a more detailed proof for the initial plateau. This is followed by a comprehensive analysis of the dynamics in the descent stage. Furthermore, we explore the mechanisms that enable the network to overcome the prolonged secondary plateau stage, supported by both experimental evidence and heuristic reasoning. Finally, to better understand the relationship between global training trends and local parameter adjustments, we employ the Wasserstein distance to capture the microscopic evolution of weight amplitude distribution.

Enabling Energy-Efficient Deployment of Large Language Models on Memristor Crossbar: A Synergy of Large and Small

Large language models (LLMs) have garnered substantial attention due to their promising applications in diverse domains. Nevertheless, the increasing size of LLMs comes with a significant surge in the computational requirements for training and deployment. Memristor crossbars have emerged as a promising solution, which demonstrated a small footprint and remarkably high energy efficiency in computer vision (CV) models. Memristors possess higher density compared to conventional memory technologies, making them highly suitable for effectively managing the extreme model size associated with LLMs. However, deploying LLMs on memristor crossbars faces three major challenges. Firstly, the size of LLMs increases rapidly, already surpassing the capabilities of state-of-the-art memristor chips. Secondly, LLMs often incorporate multi-head attention blocks, which involve non-weight stationary multiplications that traditional memristor crossbars cannot support. Third, while memristor crossbars excel at performing linear operations, they are not capable of executing complex nonlinear operations in LLM such as softmax and layer normalization. To address these challenges, we present a novel architecture for the memristor crossbar that enables the deployment of state-of-the-art LLM on a single chip or package, eliminating the energy and time inefficiencies associated with off-chip communication. Our testing on BERT_Large showed negligible accuracy loss. Compared to traditional memristor crossbars, our architecture achieves enhancements of up to 39X in area overhead and 18X in energy consumption. Compared to modern TPU/GPU systems, our architecture demonstrates at least a 68X reduction in the area-delay product and a significant 69% energy consumption reduction.

Quantifying Training Difficulty and Accelerating Convergence in Neural Network-Based PDE Solvers

Neural network-based methods have emerged as powerful tools for solving partial differential equations (PDEs) in scientific and engineering applications, particularly when handling complex domains or incorporating empirical data. These methods leverage neural networks as basis functions to approximate PDE solutions. However, training such networks can be challenging, often resulting in limited accuracy. In this paper, we investigate the training dynamics of neural network-based PDE solvers with a focus on the impact of initialization techniques. We assess training difficulty by analyzing the eigenvalue distribution of the kernel and apply the concept of effective rank to quantify this difficulty, where a larger effective rank correlates with faster convergence of the training error. Building upon this, we discover through theoretical analysis and numerical experiments that two initialization techniques, partition of unity (PoU) and variance scaling (VS), enhance the effective rank, thereby accelerating the convergence of training error. Furthermore, comprehensive experiments using popular PDE-solving frameworks, such as PINN, Deep Ritz, and the operator learning framework DeepOnet, confirm that these initialization techniques consistently speed up convergence, in line with our theoretical findings.

UdeerLID+: Integrating LiDAR, Image, and Relative Depth with Semi-Supervised

Road segmentation is a critical task for autonomous driving systems, requiring accurate and robust methods to classify road surfaces from various environmental data. Our work introduces an innovative approach that integrates LiDAR point cloud data, visual image, and relative depth maps derived from images. The integration of multiple data sources in road segmentation presents both opportunities and challenges. One of the primary challenges is the scarcity of large-scale, accurately labeled datasets that are necessary for training robust deep learning models. To address this, we have developed the [UdeerLID+] framework under a semi-supervised learning paradigm. Experiments results on KITTI datasets validate the superior performance.

Analyzing and Bridging the Gap between Maximizing Total Reward and Discounted Reward in Deep Reinforcement Learning

In deep reinforcement learning applications, maximizing discounted reward is often employed instead of maximizing total reward to ensure the convergence and stability of algorithms, even though the performance metric for evaluating the policy remains the total reward. However, the optimal policies corresponding to these two objectives may not always be consistent. To address this issue, we analyzed the suboptimality of the policy obtained through maximizing discounted reward in relation to the policy that maximizes total reward and identified the influence of hyperparameters. Additionally, we proposed sufficient conditions for aligning the optimal policies of these two objectives under various settings. The primary contributions are as follows: We theoretically analyzed the factors influencing performance when using discounted reward as a proxy for total reward, thereby enhancing the theoretical understanding of this scenario. Furthermore, we developed methods to align the optimal policies of the two objectives in certain situations, which can improve the performance of reinforcement learning algorithms.

Probing Implicit Bias in Semi-gradient Q-learning: Visualizing the Effective Loss Landscapes via the Fokker--Planck Equation

Semi-gradient Q-learning is applied in many fields, but due to the absence of an explicit loss function, studying its dynamics and implicit bias in the parameter space is challenging. This paper introduces the Fokker--Planck equation and employs partial data obtained through sampling to construct and visualize the effective loss landscape within a two-dimensional parameter space. This visualization reveals how the global minima in the loss landscape can transform into saddle points in the effective loss landscape, as well as the implicit bias of the semi-gradient method. Additionally, we demonstrate that saddle points, originating from the global minima in loss landscape, still exist in the effective loss landscape under high-dimensional parameter spaces and neural network settings. This paper develop a novel approach for probing implicit bias in semi-gradient Q-learning.

Geometry of Critical Sets and Existence of Saddle Branches for Two-layer Neural Networks

This paper presents a comprehensive analysis of critical point sets in two-layer neural networks. To study such complex entities, we introduce the critical embedding operator and critical reduction operator as our tools. Given a critical point, we use these operators to uncover the whole underlying critical set representing the same output function, which exhibits a hierarchical structure. Furthermore, we prove existence of saddle branches for any critical set whose output function can be represented by a narrower network. Our results provide a solid foundation to the further study of optimization and training behavior of neural networks.

Demystifying Lazy Training of Neural Networks from a Macroscopic Viewpoint

In this paper, we advance the understanding of neural network training dynamics by examining the intricate interplay of various factors introduced by weight parameters in the initialization process. Motivated by the foundational work of Luo et al. (J. Mach. Learn. Res., Vol. 22, Iss. 1, No. 71, pp 3327-3373), we explore the gradient descent dynamics of neural networks through the lens of macroscopic limits, where we analyze its behavior as width $m$ tends to infinity. Our study presents a unified approach with refined techniques designed for multi-layer fully connected neural networks, which can be readily extended to other neural network architectures. Our investigation reveals that gradient descent can rapidly drive deep neural networks to zero training loss, irrespective of the specific initialization schemes employed by weight parameters, provided that the initial scale of the output function $\kappa$ surpasses a certain threshold. This regime, characterized as the theta-lazy area, accentuates the predominant influence of the initial scale $\kappa$ over other factors on the training behavior of neural networks. Furthermore, our approach draws inspiration from the Neural Tangent Kernel (NTK) paradigm, and we expand its applicability. While NTK typically assumes that $\lim_{m\to\infty}\frac{\log \kappa}{\log m}=\frac{1}{2}$, and imposes each weight parameters to scale by the factor $\frac{1}{\sqrt{m}}$, in our theta-lazy regime, we discard the factor and relax the conditions to $\lim_{m\to\infty}\frac{\log \kappa}{\log m}>0$. Similar to NTK, the behavior of overparameterized neural networks within the theta-lazy regime trained by gradient descent can be effectively described by a specific kernel. Through rigorous analysis, our investigation illuminates the pivotal role of $\kappa$ in governing the training dynamics of neural networks.