NAMR-RRT: Neural Adaptive Motion Planning for Mobile Robots in Dynamic Environments

Robots are increasingly deployed in dynamic and crowded environments, such as urban areas and shopping malls, where efficient and robust navigation is crucial. Traditional risk-based motion planning algorithms face challenges in such scenarios due to the lack of a well-defined search region, leading to inefficient exploration in irrelevant areas. While bi-directional and multi-directional search strategies can improve efficiency, they still result in significant unnecessary exploration. This article introduces the Neural Adaptive Multi-directional Risk-based Rapidly-exploring Random Tree (NAMR-RRT) to address these limitations. NAMR-RRT integrates neural network-generated heuristic regions to dynamically guide the exploration process, continuously refining the heuristic region and sampling rates during the planning process. This adaptive feature significantly enhances performance compared to neural-based methods with fixed heuristic regions and sampling rates. NAMR-RRT improves planning efficiency, reduces trajectory length, and ensures higher success by focusing the search on promising areas and continuously adjusting to environments. The experiment results from both simulations and real-world applications demonstrate the robustness and effectiveness of our proposed method in navigating dynamic environments. A website about this work is available at https://sites.google.com/view/namr-rrt.

Local Superior Soups: A Catalyst for Model Merging in Cross-Silo Federated Learning

Federated learning (FL) is a learning paradigm that enables collaborative training of models using decentralized data. Recently, the utilization of pre-trained weight initialization in FL has been demonstrated to effectively improve model performance. However, the evolving complexity of current pre-trained models, characterized by a substantial increase in parameters, markedly intensifies the challenges associated with communication rounds required for their adaptation to FL. To address these communication cost issues and increase the performance of pre-trained model adaptation in FL, we propose an innovative model interpolation-based local training technique called ``Local Superior Soups.'' Our method enhances local training across different clients, encouraging the exploration of a connected low-loss basin within a few communication rounds through regularized model interpolation. This approach acts as a catalyst for the seamless adaptation of pre-trained models in in FL. We demonstrated its effectiveness and efficiency across diverse widely-used FL datasets. Our code is available at \href{https://github.com/ubc-tea/Local-Superior-Soups}{https://github.com/ubc-tea/Local-Superior-Soups}.

DARE the Extreme: Revisiting Delta-Parameter Pruning For Fine-Tuned Models

Storing open-source fine-tuned models separately introduces redundancy and increases response times in applications utilizing multiple models. Delta-parameter pruning (DPP), particularly the random drop and rescale (DARE) method proposed by Yu et al., addresses this by pruning the majority of delta parameters--the differences between fine-tuned and pre-trained model weights--while typically maintaining minimal performance loss. However, DARE fails when either the pruning rate or the magnitude of the delta parameters is large. We highlight two key reasons for this failure: (1) an excessively large rescaling factor as pruning rates increase, and (2) high mean and variance in the delta parameters. To push DARE's limits, we introduce DAREx (DARE the eXtreme), which features two algorithmic improvements: (1) DAREx-q, a rescaling factor modification that significantly boosts performance at high pruning rates (e.g., >30 % on COLA and SST2 for encoder models, with even greater gains in decoder models), and (2) DAREx-L2, which combines DARE with AdamR, an in-training method that applies appropriate delta regularization before DPP. We also demonstrate that DAREx-q can be seamlessly combined with vanilla parameter-efficient fine-tuning techniques like LoRA and can facilitate structural DPP. Additionally, we revisit the application of importance-based pruning techniques within DPP, demonstrating that they outperform random-based methods when delta parameters are large. Through this comprehensive study, we develop a pipeline for selecting the most appropriate DPP method under various practical scenarios.

Benchmarking Data Heterogeneity Evaluation Approaches for Personalized Federated Learning

There is growing research interest in measuring the statistical heterogeneity of clients' local datasets. Such measurements are used to estimate the suitability for collaborative training of personalized federated learning (PFL) models. Currently, these research endeavors are taking place in silos and there is a lack of a unified benchmark to provide a fair and convenient comparison among various approaches in common settings. We aim to bridge this important gap in this paper. The proposed benchmarking framework currently includes six representative approaches. Extensive experiments have been conducted to compare these approaches under five standard non-IID FL settings, providing much needed insights into which approaches are advantageous under which settings. The proposed framework offers useful guidance on the suitability of various data divergence measures in FL systems. It is beneficial for keeping related research activities on the right track in terms of: (1) designing PFL schemes, (2) selecting appropriate data heterogeneity evaluation approaches for specific FL application scenarios, and (3) addressing fairness issues in collaborative model training. The code is available at https://github.com/Xiaoni-61/DH-Benchmark.

HyperBrain: Anomaly Detection for Temporal Hypergraph Brain Networks

Identifying unusual brain activity is a crucial task in neuroscience research, as it aids in the early detection of brain disorders. It is common to represent brain networks as graphs, and researchers have developed various graph-based machine learning methods for analyzing them. However, the majority of existing graph learning tools for the brain face a combination of the following three key limitations. First, they focus only on pairwise correlations between regions of the brain, limiting their ability to capture synchronized activity among larger groups of regions. Second, they model the brain network as a static network, overlooking the temporal changes in the brain. Third, most are designed only for classifying brain networks as healthy or disordered, lacking the ability to identify abnormal brain activity patterns linked to biomarkers associated with disorders. To address these issues, we present HyperBrain, an unsupervised anomaly detection framework for temporal hypergraph brain networks. HyperBrain models fMRI time series data as temporal hypergraphs capturing dynamic higher-order interactions. It then uses a novel customized temporal walk (BrainWalk) and neural encodings to detect abnormal co-activations among brain regions. We evaluate the performance of HyperBrain in both synthetic and real-world settings for Autism Spectrum Disorder and Attention Deficit Hyperactivity Disorder(ADHD). HyperBrain outperforms all other baselines on detecting abnormal co-activations in brain networks. Furthermore, results obtained from HyperBrain are consistent with clinical research on these brain disorders. Our findings suggest that learning temporal and higher-order connections in the brain provides a promising approach to uncover intricate connectivity patterns in brain networks, offering improved diagnosis.

Federated Impression for Learning with Distributed Heterogeneous Data

Standard deep learning-based classification approaches may not always be practical in real-world clinical applications, as they require a centralized collection of all samples. Federated learning (FL) provides a paradigm that can learn from distributed datasets across clients without requiring them to share data, which can help mitigate privacy and data ownership issues. In FL, sub-optimal convergence caused by data heterogeneity is common among data from different health centers due to the variety in data collection protocols and patient demographics across centers. Through experimentation in this study, we show that data heterogeneity leads to the phenomenon of catastrophic forgetting during local training. We propose FedImpres which alleviates catastrophic forgetting by restoring synthetic data that represents the global information as federated impression. To achieve this, we distill the global model resulting from each communication round. Subsequently, we use the synthetic data alongside the local data to enhance the generalization of local training. Extensive experiments show that the proposed method achieves state-of-the-art performance on both the BloodMNIST and Retina datasets, which contain label imbalance and domain shift, with an improvement in classification accuracy of up to 20%.

FairMedFM: Fairness Benchmarking for Medical Imaging Foundation Models

The advent of foundation models (FMs) in healthcare offers unprecedented opportunities to enhance medical diagnostics through automated classification and segmentation tasks. However, these models also raise significant concerns about their fairness, especially when applied to diverse and underrepresented populations in healthcare applications. Currently, there is a lack of comprehensive benchmarks, standardized pipelines, and easily adaptable libraries to evaluate and understand the fairness performance of FMs in medical imaging, leading to considerable challenges in formulating and implementing solutions that ensure equitable outcomes across diverse patient populations. To fill this gap, we introduce FairMedFM, a fairness benchmark for FM research in medical imaging.FairMedFM integrates with 17 popular medical imaging datasets, encompassing different modalities, dimensionalities, and sensitive attributes. It explores 20 widely used FMs, with various usages such as zero-shot learning, linear probing, parameter-efficient fine-tuning, and prompting in various downstream tasks -- classification and segmentation. Our exhaustive analysis evaluates the fairness performance over different evaluation metrics from multiple perspectives, revealing the existence of bias, varied utility-fairness trade-offs on different FMs, consistent disparities on the same datasets regardless FMs, and limited effectiveness of existing unfairness mitigation methods. Checkout FairMedFM's project page and open-sourced codebase, which supports extendible functionalities and applications as well as inclusive for studies on FMs in medical imaging over the long term.

CCSI: Continual Class-Specific Impression for Data-free Class Incremental Learning

In real-world clinical settings, traditional deep learning-based classification methods struggle with diagnosing newly introduced disease types because they require samples from all disease classes for offline training. Class incremental learning offers a promising solution by adapting a deep network trained on specific disease classes to handle new diseases. However, catastrophic forgetting occurs, decreasing the performance of earlier classes when adapting the model to new data. Prior proposed methodologies to overcome this require perpetual storage of previous samples, posing potential practical concerns regarding privacy and storage regulations in healthcare. To this end, we propose a novel data-free class incremental learning framework that utilizes data synthesis on learned classes instead of data storage from previous classes. Our key contributions include acquiring synthetic data known as Continual Class-Specific Impression (CCSI) for previously inaccessible trained classes and presenting a methodology to effectively utilize this data for updating networks when introducing new classes. We obtain CCSI by employing data inversion over gradients of the trained classification model on previous classes starting from the mean image of each class inspired by common landmarks shared among medical images and utilizing continual normalization layers statistics as a regularizer in this pixel-wise optimization process. Subsequently, we update the network by combining the synthesized data with new class data and incorporate several losses, including an intra-domain contrastive loss to generalize the deep network trained on the synthesized data to real data, a margin loss to increase separation among previous classes and new ones, and a cosine-normalized cross-entropy loss to alleviate the adverse effects of imbalanced distributions in training data.

Federated Model Heterogeneous Matryoshka Representation Learning

Model heterogeneous federated learning (MHeteroFL) enables FL clients to collaboratively train models with heterogeneous structures in a distributed fashion. However, existing MHeteroFL methods rely on training loss to transfer knowledge between the client model and the server model, resulting in limited knowledge exchange. To address this limitation, we propose the Federated model heterogeneous Matryoshka Representation Learning (FedMRL) approach for supervised learning tasks. It adds an auxiliary small homogeneous model shared by clients with heterogeneous local models. (1) The generalized and personalized representations extracted by the two models' feature extractors are fused by a personalized lightweight representation projector. This step enables representation fusion to adapt to local data distribution. (2) The fused representation is then used to construct Matryoshka representations with multi-dimensional and multi-granular embedded representations learned by the global homogeneous model header and the local heterogeneous model header. This step facilitates multi-perspective representation learning and improves model learning capability. Theoretical analysis shows that FedMRL achieves a $O(1/T)$ non-convex convergence rate. Extensive experiments on benchmark datasets demonstrate its superior model accuracy with low communication and computational costs compared to seven state-of-the-art baselines. It achieves up to 8.48% and 24.94% accuracy improvement compared with the state-of-the-art and the best same-category baseline, respectively.

FedCal: Achieving Local and Global Calibration in Federated Learning via Aggregated Parameterized Scaler

Federated learning (FL) enables collaborative machine learning across distributed data owners, but data heterogeneity poses a challenge for model calibration. While prior work focused on improving accuracy for non-iid data, calibration remains under-explored. This study reveals existing FL aggregation approaches lead to sub-optimal calibration, and theoretical analysis shows despite constraining variance in clients' label distributions, global calibration error is still asymptotically lower bounded. To address this, we propose a novel Federated Calibration (FedCal) approach, emphasizing both local and global calibration. It leverages client-specific scalers for local calibration to effectively correct output misalignment without sacrificing prediction accuracy. These scalers are then aggregated via weight averaging to generate a global scaler, minimizing the global calibration error. Extensive experiments demonstrate FedCal significantly outperforms the best-performing baseline, reducing global calibration error by 47.66% on average.