Federated learning(FL)is an intricate and privacy-preserving technique that enables distributed mobile devices to collaboratively train a machine learning model.However,in real-world FL scenarios,the training performa...Federated learning(FL)is an intricate and privacy-preserving technique that enables distributed mobile devices to collaboratively train a machine learning model.However,in real-world FL scenarios,the training performance is affected by a combination of factors such as the mobility of user devices,limited communication and computational resources,thus making the user scheduling problem crucial.To tackle this problem,we jointly consider the user mobility,communication and computational capacities,and develop a stochastic optimization problem to minimize the convergence time.Specifically,we first establish a convergence bound on the training performance based on the heterogeneity of users’data,and then leverage this bound to derive the participation rate for each user.After deriving the user-specific participation rate,we aim to minimize the training latency by optimizing user scheduling under the constraints of the energy consumption and participation rate.Afterward,we transform this optimization problem to the contextual multi-armed bandit framework based on the Lyapunov method and solve it with the submodular reward enhanced linear upper confidence bound(SR-linUCB)algorithm.Experimental results demonstrate the superiority of our proposed algorithm on the training performance and time consumption compared with stateof-the-art algorithms for both independent and identically distributed(IID)and non-IID settings.展开更多
The increasing complexity of on-orbit tasks imposes great demands on the flexible operation of space robotic arms, prompting the development of space robots from single-arm manipulation to multi-arm collaboration. In ...The increasing complexity of on-orbit tasks imposes great demands on the flexible operation of space robotic arms, prompting the development of space robots from single-arm manipulation to multi-arm collaboration. In this paper, a combined approach of Learning from Demonstration (LfD) and Reinforcement Learning (RL) is proposed for space multi-arm collaborative skill learning. The combination effectively resolves the trade-off between learning efficiency and feasible solution in LfD, as well as the time-consuming pursuit of the optimal solution in RL. With the prior knowledge of LfD, space robotic arms can achieve efficient guided learning in high-dimensional state-action space. Specifically, an LfD approach with Probabilistic Movement Primitives (ProMP) is firstly utilized to encode and reproduce the demonstration actions, generating a distribution as the initialization of policy. Then in the RL stage, a Relative Entropy Policy Search (REPS) algorithm modified in continuous state-action space is employed for further policy improvement. More importantly, the learned behaviors can maintain and reflect the characteristics of demonstrations. In addition, a series of supplementary policy search mechanisms are designed to accelerate the exploration process. The effectiveness of the proposed method has been verified both theoretically and experimentally. Moreover, comparisons with state-of-the-art methods have confirmed the outperformance of the approach.展开更多
Robotic systems are expected to play an increasingly important role in future space activities. The robotic on-orbital service, whose key is the capturing technology, becomes a research hot spot in recent years. This ...Robotic systems are expected to play an increasingly important role in future space activities. The robotic on-orbital service, whose key is the capturing technology, becomes a research hot spot in recent years. This paper studies the dynamics modeling and impedance control of a multi-arm free-flying space robotic system capturing a non-cooperative target. Firstly, a control-oriented dynamics model is essential in control algorithm design and code realization. Unlike a numerical algorithm, an analytical approach is suggested. Using a general and a quasi-coordinate Lagrangian formulation, the kinematics and dynamics equations are derived.Then, an impedance control algorithm is developed which allows coordinated control of the multiple manipulators to capture a target.Through enforcing a reference impedance, end-effectors behave like a mass-damper-spring system fixed in inertial space in reaction to any contact force between the capture hands and the target. Meanwhile, the position and the attitude of the base are maintained stably by using gas jet thrusters to work against the manipulators' reaction. Finally, a simulation by using a space robot with two manipulators and a free-floating non-cooperative target is illustrated to verify the effectiveness of the proposed method.展开更多
As a combination of edge computing and artificial intelligence,edge intelligence has become a promising technique and provided its users with a series of fast,precise,and customized services.In edge intelligence,when ...As a combination of edge computing and artificial intelligence,edge intelligence has become a promising technique and provided its users with a series of fast,precise,and customized services.In edge intelligence,when learning agents are deployed on the edge side,the data aggregation from the end side to the designated edge devices is an important research topic.Considering the various importance of end devices,this paper studies the weighted data aggregation problem in a single hop end-to-edge communication network.Firstly,to make sure all the end devices with various weights are fairly treated in data aggregation,a distributed end-to-edge cooperative scheme is proposed.Then,to handle the massive contention on the wireless channel caused by end devices,a multi-armed bandit(MAB)algorithm is designed to help the end devices find their most appropriate update rates.Diffe-rent from the traditional data aggregation works,combining the MAB enables our algorithm a higher efficiency in data aggregation.With a theoretical analysis,we show that the efficiency of our algorithm is asymptotically optimal.Comparative experiments with previous works are also conducted to show the strength of our algorithm.展开更多
In order to solve the high latency of traditional cloud computing and the processing capacity limitation of Internet of Things(IoT)users,Multi-access Edge Computing(MEC)migrates computing and storage capabilities from...In order to solve the high latency of traditional cloud computing and the processing capacity limitation of Internet of Things(IoT)users,Multi-access Edge Computing(MEC)migrates computing and storage capabilities from the remote data center to the edge of network,providing users with computation services quickly and directly.In this paper,we investigate the impact of the randomness caused by the movement of the IoT user on decision-making for offloading,where the connection between the IoT user and the MEC servers is uncertain.This uncertainty would be the main obstacle to assign the task accurately.Consequently,if the assigned task cannot match well with the real connection time,a migration(connection time is not enough to process)would be caused.In order to address the impact of this uncertainty,we formulate the offloading decision as an optimization problem considering the transmission,computation and migration.With the help of Stochastic Programming(SP),we use the posteriori recourse to compensate for inaccurate predictions.Meanwhile,in heterogeneous networks,considering multiple candidate MEC servers could be selected simultaneously due to overlapping,we also introduce the Multi-Arm Bandit(MAB)theory for MEC selection.The extensive simulations validate the improvement and effectiveness of the proposed SP-based Multi-arm bandit Method(SMM)for offloading in terms of reward,cost,energy consumption and delay.The results showthat SMMcan achieve about 20%improvement compared with the traditional offloading method that does not consider the randomness,and it also outperforms the existing SP/MAB based method for offloading.展开更多
The overall cross-linking copolymerization of acrylic acid and multi-armed cross-linkers are investigated by in situ interferometry. The results show that the more arms the cross-linkers have, the higher the polymeriz...The overall cross-linking copolymerization of acrylic acid and multi-armed cross-linkers are investigated by in situ interferometry. The results show that the more arms the cross-linkers have, the higher the polymerization rate is. However, they also mean the existence of less cross-linking efficiency and some defects in gel network.展开更多
The cloud platform has limited defense resources to fully protect the edge servers used to process crowd sensing data in Internet of Things.To guarantee the network's overall security,we present a network defense ...The cloud platform has limited defense resources to fully protect the edge servers used to process crowd sensing data in Internet of Things.To guarantee the network's overall security,we present a network defense resource allocation with multi-armed bandits to maximize the network's overall benefit.Firstly,we propose the method for dynamic setting of node defense resource thresholds to obtain the defender(attacker)benefit function of edge servers(nodes)and distribution.Secondly,we design a defense resource sharing mechanism for neighboring nodes to obtain the defense capability of nodes.Subsequently,we use the decomposability and Lipschitz conti-nuity of the defender's total expected utility to reduce the difference between the utility's discrete and continuous arms and analyze the difference theoretically.Finally,experimental results show that the method maximizes the defender's total expected utility and reduces the difference between the discrete and continuous arms of the utility.展开更多
Artificial intelligence has permeated all aspects of our lives today. However, to make AI behave like real AI, the critical bottleneck lies in the speed of computing. Quantum computers employ the peculiar and unique p...Artificial intelligence has permeated all aspects of our lives today. However, to make AI behave like real AI, the critical bottleneck lies in the speed of computing. Quantum computers employ the peculiar and unique properties of quantum states such as superposition, entanglement, and interference to process information in ways that classical computers cannot. As a new paradigm of computation, quantum computers are capable of performing tasks intractable for classical processors, thus providing a quantum leap in AI research and making the development of real AI a possibility. In this regard, quantum machine learning not only enhances the classical machine learning approach but more importantly it provides an avenue to explore new machine learning models that have no classical counterparts. The qubit-based quantum computers cannot naturally represent the continuous variables commonly used in machine learning, since the measurement outputs of qubit-based circuits are generally discrete. Therefore, a continuous-variable (CV) quantum architecture based on a photonic quantum computing model is selected for our study. In this work, we employ machine learning and optimization to create photonic quantum circuits that can solve the contextual multi-armed bandit problem, a problem in the domain of reinforcement learning, which demonstrates that quantum reinforcement learning algorithms can be learned by a quantum device.展开更多
The process of making decisions is something humans do inherently and routinely,to the extent that it appears commonplace. However,in order to achieve good overall performance,decisions must take into account both the...The process of making decisions is something humans do inherently and routinely,to the extent that it appears commonplace. However,in order to achieve good overall performance,decisions must take into account both the outcomes of past decisions and opportunities of future ones. Reinforcement learning,which is fundamental to sequential decision-making,consists of the following components: 1 A set of decisions epochs; 2 A set of environment states; 3 A set of available actions to transition states; 4 State-action dependent immediate rewards for each action.At each decision,the environment state provides the decision maker with a set of available actions from which to choose. As a result of selecting a particular action in the state,the environment generates an immediate reward for the decision maker and shifts to a different state and decision. The ultimate goal for the decision maker is to maximize the total reward after a sequence of time steps.This paper will focus on an archetypal example of reinforcement learning,the stochastic multi-armed bandit problem. After introducing the dilemma,I will briefly cover the most common methods used to solve it,namely the UCB and εn- greedy algorithms. I will also introduce my own greedy implementation,the strict-greedy algorithm,which more tightly follows the greedy pattern in algorithm design,and show that it runs comparably to the two accepted algorithms.展开更多
Most meta-analysis has concentrated on combining of treatment effect measures based on comparisons of two treatments. Meta-analysis of multi-arm trials is a key component of submission to summarize evidence from all p...Most meta-analysis has concentrated on combining of treatment effect measures based on comparisons of two treatments. Meta-analysis of multi-arm trials is a key component of submission to summarize evidence from all possible studies. In this paper, an exact binomial model is proposed by using logistic regression model to compare different treatment in multi-arm trials. Two approaches such as unconditional maximum likelihood and conditional maximum likelihood have been determined and compared for the logistic regression model. The proposed models are performed using the data from 27 randomized clinical trials (RCTs) which determine the efficacy of antiplatelet therapy in reduction venous thrombosis and pulmonary embolism.展开更多
This paper proposes Flex-QUIC,an AIempowered quick UDP Internet connections(QUIC)enhancement framework that addresses the challenge of degraded transmission efficiency caused by the static parameterization of acknowle...This paper proposes Flex-QUIC,an AIempowered quick UDP Internet connections(QUIC)enhancement framework that addresses the challenge of degraded transmission efficiency caused by the static parameterization of acknowledgment(ACK)mechanisms,loss detection,and forward error correction(FEC)in dynamic wireless networks.Unlike the standard QUIC protocol,Flex-QUIC systematically integrates machine learning across three critical modules to achieve high-efficiency operation.First,a contextual multi-armed bandit-based ACK adaptation mechanism optimizes the ACK ratio to reduce wireless channel contention.Second,the adaptive loss detection module utilizes a long short-term memory(LSTM)model to predict the reordering displacement for optimizing the packet reordering tolerance.Third,the FEC transmission scheme jointly adjusts the redundancy level based on the LSTM-predicted loss rate and congestion window state.Extensive evaluations across Wi-Fi,5G,and satellite network scenarios demonstrate that Flex-QUIC significantly improves throughput and latency reduction compared to the standard QUIC and other enhanced QUIC variants,highlighting its adaptability to diverse and dynamic network conditions.Finally,we further discuss open issues in deploying AI-native transport protocols.展开更多
基金supported in part by the Key Technologies R&D Program of Jiangsu under Grants BE2023022 and BE2023022-2National Natural Science Foundation of China under Grants 62471204, 62531015+2 种基金Major Natural Science Foundation of the Higher Education Institutions of Jiangsu Province under Grant 24KJA510003Shanghai Kewei 24DP1500500the Fundamental Research Funds for the Central Universities under Grant 2242025K30025
文摘Federated learning(FL)is an intricate and privacy-preserving technique that enables distributed mobile devices to collaboratively train a machine learning model.However,in real-world FL scenarios,the training performance is affected by a combination of factors such as the mobility of user devices,limited communication and computational resources,thus making the user scheduling problem crucial.To tackle this problem,we jointly consider the user mobility,communication and computational capacities,and develop a stochastic optimization problem to minimize the convergence time.Specifically,we first establish a convergence bound on the training performance based on the heterogeneity of users’data,and then leverage this bound to derive the participation rate for each user.After deriving the user-specific participation rate,we aim to minimize the training latency by optimizing user scheduling under the constraints of the energy consumption and participation rate.Afterward,we transform this optimization problem to the contextual multi-armed bandit framework based on the Lyapunov method and solve it with the submodular reward enhanced linear upper confidence bound(SR-linUCB)algorithm.Experimental results demonstrate the superiority of our proposed algorithm on the training performance and time consumption compared with stateof-the-art algorithms for both independent and identically distributed(IID)and non-IID settings.
基金co-supported by the National Natural Science Foundation of China(No.12372045)the Guangdong Basic and Applied Basic Research Foundation,China(No.2023B1515120018)the Shenzhen Science and Technology Program,China(No.JCYJ20220818102207015).
文摘The increasing complexity of on-orbit tasks imposes great demands on the flexible operation of space robotic arms, prompting the development of space robots from single-arm manipulation to multi-arm collaboration. In this paper, a combined approach of Learning from Demonstration (LfD) and Reinforcement Learning (RL) is proposed for space multi-arm collaborative skill learning. The combination effectively resolves the trade-off between learning efficiency and feasible solution in LfD, as well as the time-consuming pursuit of the optimal solution in RL. With the prior knowledge of LfD, space robotic arms can achieve efficient guided learning in high-dimensional state-action space. Specifically, an LfD approach with Probabilistic Movement Primitives (ProMP) is firstly utilized to encode and reproduce the demonstration actions, generating a distribution as the initialization of policy. Then in the RL stage, a Relative Entropy Policy Search (REPS) algorithm modified in continuous state-action space is employed for further policy improvement. More importantly, the learned behaviors can maintain and reflect the characteristics of demonstrations. In addition, a series of supplementary policy search mechanisms are designed to accelerate the exploration process. The effectiveness of the proposed method has been verified both theoretically and experimentally. Moreover, comparisons with state-of-the-art methods have confirmed the outperformance of the approach.
基金supported by the National Natural Science Foundation of China (61673009)。
文摘Robotic systems are expected to play an increasingly important role in future space activities. The robotic on-orbital service, whose key is the capturing technology, becomes a research hot spot in recent years. This paper studies the dynamics modeling and impedance control of a multi-arm free-flying space robotic system capturing a non-cooperative target. Firstly, a control-oriented dynamics model is essential in control algorithm design and code realization. Unlike a numerical algorithm, an analytical approach is suggested. Using a general and a quasi-coordinate Lagrangian formulation, the kinematics and dynamics equations are derived.Then, an impedance control algorithm is developed which allows coordinated control of the multiple manipulators to capture a target.Through enforcing a reference impedance, end-effectors behave like a mass-damper-spring system fixed in inertial space in reaction to any contact force between the capture hands and the target. Meanwhile, the position and the attitude of the base are maintained stably by using gas jet thrusters to work against the manipulators' reaction. Finally, a simulation by using a space robot with two manipulators and a free-floating non-cooperative target is illustrated to verify the effectiveness of the proposed method.
基金supported by the National Natural Science Foundation of China(NSFC)(62102232,62122042,61971269)Natural Science Foundation of Shandong Province Under(ZR2021QF064)。
文摘As a combination of edge computing and artificial intelligence,edge intelligence has become a promising technique and provided its users with a series of fast,precise,and customized services.In edge intelligence,when learning agents are deployed on the edge side,the data aggregation from the end side to the designated edge devices is an important research topic.Considering the various importance of end devices,this paper studies the weighted data aggregation problem in a single hop end-to-edge communication network.Firstly,to make sure all the end devices with various weights are fairly treated in data aggregation,a distributed end-to-edge cooperative scheme is proposed.Then,to handle the massive contention on the wireless channel caused by end devices,a multi-armed bandit(MAB)algorithm is designed to help the end devices find their most appropriate update rates.Diffe-rent from the traditional data aggregation works,combining the MAB enables our algorithm a higher efficiency in data aggregation.With a theoretical analysis,we show that the efficiency of our algorithm is asymptotically optimal.Comparative experiments with previous works are also conducted to show the strength of our algorithm.
基金This work was supported in part by the Zhejiang Lab under Grant 20210AB02in part by the Sichuan International Science and Technology Innovation Cooperation/Hong Kong,Macao and Taiwan Science and Technology Innovation Cooperation Project under Grant 2019YFH0163in part by the Key Research and Development Project of Sichuan Provincial Department of Science and Technology under Grant 2018JZ0071.
文摘In order to solve the high latency of traditional cloud computing and the processing capacity limitation of Internet of Things(IoT)users,Multi-access Edge Computing(MEC)migrates computing and storage capabilities from the remote data center to the edge of network,providing users with computation services quickly and directly.In this paper,we investigate the impact of the randomness caused by the movement of the IoT user on decision-making for offloading,where the connection between the IoT user and the MEC servers is uncertain.This uncertainty would be the main obstacle to assign the task accurately.Consequently,if the assigned task cannot match well with the real connection time,a migration(connection time is not enough to process)would be caused.In order to address the impact of this uncertainty,we formulate the offloading decision as an optimization problem considering the transmission,computation and migration.With the help of Stochastic Programming(SP),we use the posteriori recourse to compensate for inaccurate predictions.Meanwhile,in heterogeneous networks,considering multiple candidate MEC servers could be selected simultaneously due to overlapping,we also introduce the Multi-Arm Bandit(MAB)theory for MEC selection.The extensive simulations validate the improvement and effectiveness of the proposed SP-based Multi-arm bandit Method(SMM)for offloading in terms of reward,cost,energy consumption and delay.The results showthat SMMcan achieve about 20%improvement compared with the traditional offloading method that does not consider the randomness,and it also outperforms the existing SP/MAB based method for offloading.
文摘The overall cross-linking copolymerization of acrylic acid and multi-armed cross-linkers are investigated by in situ interferometry. The results show that the more arms the cross-linkers have, the higher the polymerization rate is. However, they also mean the existence of less cross-linking efficiency and some defects in gel network.
基金supported by the National Natural Science Foundation of China(NSFC)[grant numbers 62172377,61872205]the Shandong Provincial Natural Science Foundation[grant number ZR2019MF018]the Startup Research Foundation for Distinguished Scholars No.202112016.
文摘The cloud platform has limited defense resources to fully protect the edge servers used to process crowd sensing data in Internet of Things.To guarantee the network's overall security,we present a network defense resource allocation with multi-armed bandits to maximize the network's overall benefit.Firstly,we propose the method for dynamic setting of node defense resource thresholds to obtain the defender(attacker)benefit function of edge servers(nodes)and distribution.Secondly,we design a defense resource sharing mechanism for neighboring nodes to obtain the defense capability of nodes.Subsequently,we use the decomposability and Lipschitz conti-nuity of the defender's total expected utility to reduce the difference between the utility's discrete and continuous arms and analyze the difference theoretically.Finally,experimental results show that the method maximizes the defender's total expected utility and reduces the difference between the discrete and continuous arms of the utility.
文摘Artificial intelligence has permeated all aspects of our lives today. However, to make AI behave like real AI, the critical bottleneck lies in the speed of computing. Quantum computers employ the peculiar and unique properties of quantum states such as superposition, entanglement, and interference to process information in ways that classical computers cannot. As a new paradigm of computation, quantum computers are capable of performing tasks intractable for classical processors, thus providing a quantum leap in AI research and making the development of real AI a possibility. In this regard, quantum machine learning not only enhances the classical machine learning approach but more importantly it provides an avenue to explore new machine learning models that have no classical counterparts. The qubit-based quantum computers cannot naturally represent the continuous variables commonly used in machine learning, since the measurement outputs of qubit-based circuits are generally discrete. Therefore, a continuous-variable (CV) quantum architecture based on a photonic quantum computing model is selected for our study. In this work, we employ machine learning and optimization to create photonic quantum circuits that can solve the contextual multi-armed bandit problem, a problem in the domain of reinforcement learning, which demonstrates that quantum reinforcement learning algorithms can be learned by a quantum device.
文摘The process of making decisions is something humans do inherently and routinely,to the extent that it appears commonplace. However,in order to achieve good overall performance,decisions must take into account both the outcomes of past decisions and opportunities of future ones. Reinforcement learning,which is fundamental to sequential decision-making,consists of the following components: 1 A set of decisions epochs; 2 A set of environment states; 3 A set of available actions to transition states; 4 State-action dependent immediate rewards for each action.At each decision,the environment state provides the decision maker with a set of available actions from which to choose. As a result of selecting a particular action in the state,the environment generates an immediate reward for the decision maker and shifts to a different state and decision. The ultimate goal for the decision maker is to maximize the total reward after a sequence of time steps.This paper will focus on an archetypal example of reinforcement learning,the stochastic multi-armed bandit problem. After introducing the dilemma,I will briefly cover the most common methods used to solve it,namely the UCB and εn- greedy algorithms. I will also introduce my own greedy implementation,the strict-greedy algorithm,which more tightly follows the greedy pattern in algorithm design,and show that it runs comparably to the two accepted algorithms.
文摘Most meta-analysis has concentrated on combining of treatment effect measures based on comparisons of two treatments. Meta-analysis of multi-arm trials is a key component of submission to summarize evidence from all possible studies. In this paper, an exact binomial model is proposed by using logistic regression model to compare different treatment in multi-arm trials. Two approaches such as unconditional maximum likelihood and conditional maximum likelihood have been determined and compared for the logistic regression model. The proposed models are performed using the data from 27 randomized clinical trials (RCTs) which determine the efficacy of antiplatelet therapy in reduction venous thrombosis and pulmonary embolism.
基金supported in part by the National Key R&D Program of China with Grant number 2019YFB1803400.
文摘This paper proposes Flex-QUIC,an AIempowered quick UDP Internet connections(QUIC)enhancement framework that addresses the challenge of degraded transmission efficiency caused by the static parameterization of acknowledgment(ACK)mechanisms,loss detection,and forward error correction(FEC)in dynamic wireless networks.Unlike the standard QUIC protocol,Flex-QUIC systematically integrates machine learning across three critical modules to achieve high-efficiency operation.First,a contextual multi-armed bandit-based ACK adaptation mechanism optimizes the ACK ratio to reduce wireless channel contention.Second,the adaptive loss detection module utilizes a long short-term memory(LSTM)model to predict the reordering displacement for optimizing the packet reordering tolerance.Third,the FEC transmission scheme jointly adjusts the redundancy level based on the LSTM-predicted loss rate and congestion window state.Extensive evaluations across Wi-Fi,5G,and satellite network scenarios demonstrate that Flex-QUIC significantly improves throughput and latency reduction compared to the standard QUIC and other enhanced QUIC variants,highlighting its adaptability to diverse and dynamic network conditions.Finally,we further discuss open issues in deploying AI-native transport protocols.
