Flow-Inspired Lightweight Multi-Robot Real-Time Scheduling Planner

Collision avoidance and trajectory planning are crucial in multi-robot systems, particularly in environments with numerous obstacles. Although extensive research has been conducted in this field, the challenge of rapid traversal through such environments has not been fully addressed. This paper addresses this problem by proposing a novel real-time scheduling scheme designed to optimize the passage of multi-robot systems through complex, obstacle-rich maps. Inspired from network flow optimization, our scheme decomposes the environment into a network structure, enabling the efficient allocation of robots to paths based on real-time congestion data. The proposed scheduling planner operates on top of existing collision avoidance algorithms, focusing on minimizing traversal time by balancing robot detours and waiting times. Our simulation results demonstrate the efficiency of the proposed scheme. Additionally, we validated its effectiveness through real world flight tests using ten quadrotors. This work contributes a lightweight, effective scheduling planner capable of meeting the real-time demands of multi-robot systems in obstacle-rich environments.

Enhancing Knowledge Retrieval with In-Context Learning and Semantic Search through Generative AI

Retrieving and extracting knowledge from extensive research documents and large databases presents significant challenges for researchers, students, and professionals in today's information-rich era. Existing retrieval systems, which rely on general-purpose Large Language Models (LLMs), often fail to provide accurate responses to domain-specific inquiries. Additionally, the high cost of pretraining or fine-tuning LLMs for specific domains limits their widespread adoption. To address these limitations, we propose a novel methodology that combines the generative capabilities of LLMs with the fast and accurate retrieval capabilities of vector databases. This advanced retrieval system can efficiently handle both tabular and non-tabular data, understand natural language user queries, and retrieve relevant information without fine-tuning. The developed model, Generative Text Retrieval (GTR), is adaptable to both unstructured and structured data with minor refinement. GTR was evaluated on both manually annotated and public datasets, achieving over 90% accuracy and delivering truthful outputs in 87% of cases. Our model achieved state-of-the-art performance with a Rouge-L F1 score of 0.98 on the MSMARCO dataset. The refined model, Generative Tabular Text Retrieval (GTR-T), demonstrated its efficiency in large database querying, achieving an Execution Accuracy (EX) of 0.82 and an Exact-Set-Match (EM) accuracy of 0.60 on the Spider dataset, using an open-source LLM. These efforts leverage Generative AI and In-Context Learning to enhance human-text interaction and make advanced AI capabilities more accessible. By integrating robust retrieval systems with powerful LLMs, our approach aims to democratize access to sophisticated AI tools, improving the efficiency, accuracy, and scalability of AI-driven information retrieval and database querying.

Rare Class Prediction Model for Smart Industry in Semiconductor Manufacturing

The evolution of industry has enabled the integration of physical and digital systems, facilitating the collection of extensive data on manufacturing processes. This integration provides a reliable solution for improving process quality and managing equipment health. However, data collected from real manufacturing processes often exhibit challenging properties, such as severe class imbalance, high rates of missing values, and noisy features, which hinder effective machine learning implementation. In this study, a rare class prediction approach is developed for in situ data collected from a smart semiconductor manufacturing process. The primary objective is to build a model that addresses issues of noise and class imbalance, enhancing class separation. The developed approach demonstrated promising results compared to existing literature, which would allow the prediction of new observations that could give insights into future maintenance plans and production quality. The model was evaluated using various performance metrics, with ROC curves showing an AUC of 0.95, a precision of 0.66, and a recall of 0.96

GAMedX: Generative AI-based Medical Entity Data Extractor Using Large Language Models

In the rapidly evolving field of healthcare and beyond, the integration of generative AI in Electronic Health Records (EHRs) represents a pivotal advancement, addressing a critical gap in current information extraction techniques. This paper introduces GAMedX, a Named Entity Recognition (NER) approach utilizing Large Language Models (LLMs) to efficiently extract entities from medical narratives and unstructured text generated throughout various phases of the patient hospital visit. By addressing the significant challenge of processing unstructured medical text, GAMedX leverages the capabilities of generative AI and LLMs for improved data extraction. Employing a unified approach, the methodology integrates open-source LLMs for NER, utilizing chained prompts and Pydantic schemas for structured output to navigate the complexities of specialized medical jargon. The findings reveal significant ROUGE F1 score on one of the evaluation datasets with an accuracy of 98\%. This innovation enhances entity extraction, offering a scalable, cost-effective solution for automated forms filling from unstructured data. As a result, GAMedX streamlines the processing of unstructured narratives, and sets a new standard in NER applications, contributing significantly to theoretical and practical advancements beyond the medical technology sphere.

Generating by Understanding: Neural Visual Generation with Logical Symbol Groundings

Despite the great success of neural visual generative models in recent years, integrating them with strong symbolic knowledge reasoning systems remains a challenging task. The main challenges are two-fold: one is symbol assignment, i.e. bonding latent factors of neural visual generators with meaningful symbols from knowledge reasoning systems. Another is rule learning, i.e. learning new rules, which govern the generative process of the data, to augment the knowledge reasoning systems. To deal with these symbol grounding problems, we propose a neural-symbolic learning approach, Abductive Visual Generation (AbdGen), for integrating logic programming systems with neural visual generative models based on the abductive learning framework. To achieve reliable and efficient symbol assignment, the quantized abduction method is introduced for generating abduction proposals by the nearest-neighbor lookups within semantic codebooks. To achieve precise rule learning, the contrastive meta-abduction method is proposed to eliminate wrong rules with positive cases and avoid less-informative rules with negative cases simultaneously. Experimental results on various benchmark datasets show that compared to the baselines, AbdGen requires significantly fewer instance-level labeling information for symbol assignment. Furthermore, our approach can effectively learn underlying logical generative rules from data, which is out of the capability of existing approaches.

Learning Bottleneck Transformer for Event Image-Voxel Feature Fusion based Classification

Recognizing target objects using an event-based camera draws more and more attention in recent years. Existing works usually represent the event streams into point-cloud, voxel, image, etc, and learn the feature representations using various deep neural networks. Their final results may be limited by the following factors: monotonous modal expressions and the design of the network structure. To address the aforementioned challenges, this paper proposes a novel dual-stream framework for event representation, extraction, and fusion. This framework simultaneously models two common representations: event images and event voxels. By utilizing Transformer and Structured Graph Neural Network (GNN) architectures, spatial information and three-dimensional stereo information can be learned separately. Additionally, a bottleneck Transformer is introduced to facilitate the fusion of the dual-stream information. Extensive experiments demonstrate that our proposed framework achieves state-of-the-art performance on two widely used event-based classification datasets. The source code of this work is available at: \url{https://github.com/Event-AHU/EFV_event_classification}

Multiple Residual Dense Networks for Reconfigurable Intelligent Surfaces Cascaded Channel Estimation

Reconfigurable intelligent surface (RIS) constitutes an essential and promising paradigm that relies programmable wireless environment and provides capability for space-intensive communications, due to the use of low-cost massive reflecting elements over the entire surfaces of man-made structures. However, accurate channel estimation is a fundamental technical prerequisite to achieve the huge performance gains from RIS. By leveraging the low rank structure of RIS channels, three practical residual neural networks, named convolutional blind denoising network, convolutional denoising generative adversarial networks and multiple residual dense network, are proposed to obtain accurate channel state information, which can reflect the impact of different methods on the estimation performance. Simulation results reveal the evolution direction of these three methods and reveal their superior performance compared with existing benchmark schemes.

Deep Learning-Based Power Control for Uplink Cell-Free Massive MIMO Systems

In this paper, a general framework for deep learning-based power control methods for max-min, max-product and max-sum-rate optimization in uplink cell-free massive multiple-input multiple-output (CF mMIMO) systems is proposed. Instead of using supervised learning, the proposed method relies on unsupervised learning, in which optimal power allocations are not required to be known, and thus has low training complexity. More specifically, a deep neural network (DNN) is trained to learn the map between fading coefficients and power coefficients within short time and with low computational complexity. It is interesting to note that the spectral efficiency of CF mMIMO systems with the proposed method outperforms previous optimization methods for max-min optimization and fits well for both max-sum-rate and max-product optimizations.

Learning Graph-Level Representations with Recurrent Neural Networks

Recently a variety of methods have been developed to encode graphs into low-dimensional vectors that can be easily exploited by machine learning algorithms. The majority of these methods start by embedding the graph nodes into a low-dimensional vector space, followed by using some scheme to aggregate the node embeddings. In this work, we develop a new approach to learn graph-level representations, which includes a combination of unsupervised and supervised learning components. We start by learning a set of node representations in an unsupervised fashion. Graph nodes are mapped into node sequences sampled from random walk approaches approximated by the Gumbel-Softmax distribution. Recurrent neural network (RNN) units are modified to accommodate both the node representations as well as their neighborhood information. Experiments on standard graph classification benchmarks demonstrate that our proposed approach achieves superior or comparable performance relative to the state-of-the-art algorithms in terms of convergence speed and classification accuracy. We further illustrate the effectiveness of the different components used by our approach.