With the prevalence of pre-trained language models (PLMs) and the pre-training–fine-tuning paradigm, it has been continuously shown that larger models tend to yield better performance. However, as PLMs scale up, fine-tuning and storing all the parameters is prohibitively costly and eventually becomes practically infeasible. This necessitates a new branch of research focusing on the parameter-efficient adaptation of PLMs, which optimizes a small portion of the model parameters while keeping the rest fixed, drastically cutting down computation and storage costs. In general, it demonstrates that large-scale models could be effectively stimulated by the optimization of a few parameters. Despite the various designs, here we discuss and analyse the approaches under a more consistent and accessible term ‘delta-tuning’, where ‘delta’ a mathematical notation often used to denote changes, is borrowed to refer to the portion of parameters that are ‘changed’ during training. We formally describe the problem and propose a unified categorization criterion for existing delta-tuning methods to explore their correlations and differences. We also discuss the theoretical principles underlying the effectiveness of delta-tuning and interpret them from the perspectives of optimization and optimal control. Furthermore, we provide a holistic empirical study on over 100 natural language processing tasks and investigate various aspects of delta-tuning. With comprehensive study and analysis, our research demonstrates the theoretical and practical properties of delta-tuning in the adaptation of PLMs.
With the advances in technology, there has been an increasing interest from researchers and industrial institutions in the use of underwater wireless sensor networks (UWSNs). Constrained by the open acoustic channel, harsh underwater environment, and their own particularities, UWSNs are vulnerable to a wide class of security threats and malicious attacks. However, most existing research into UWSNs has not taken security into consideration. Moreover, the existing relatively mature security mechanisms for WSNs cannot be directly utilized in UWSNs. For these reasons, this article aims to present a comprehensive overview of the particularities, constraints, attacks, challenges and current security mechanisms of UWSNs. In addition, challenging, open and hot research topics are outlined.
Growing interest in reinforcement learning approaches to robotic planning and control raises concerns of predictability and safety of robot behaviors realized solely through learned control policies. In addition, formally defining reward functions for complex tasks is challenging, and faulty rewards are prone to exploitation by the learning agent. Here, we propose a formal methods approach to reinforcement learning that (i) provides a formal specification language that integrates high-level, rich, task specifications with a priori, domain-specific knowledge; (ii) makes the reward generation process easily interpretable; (iii) guides the policy generation process according to the specification; and (iv) guarantees the satisfaction of the (critical) safety component of the specification. The main ingredients of our computational framework are a predicate temporal logic specifically tailored for robotic tasks and an automaton-guided, safe reinforcement learning algorithm based on control barrier functions. Although the proposed framework is quite general, we motivate it and illustrate it experimentally for a robotic cooking task, in which two manipulators worked together to make hot dogs.
We propose a real-time control strategy that combines self-triggered control with Control Lyapunov Functions (CLF) and Control Barrier Functions (CBF). Similar to related works proposing CLF-CBF-based controllers, the computation of the controller is achieved by solving a Quadratic Program (QP). However, we propose a Zeroth-Order Hold (ZOH) implementation of the controller that overcomes the main limitations of traditional approaches based on periodic controllers, i.e., unnecessary controller updates and potential violations of the safety constraints. Central to our approach is the novel notion of safe period, which enforces a strong safety guarantee for implementing ZOH control. In addition, we prove that the system does not exhibit a Zeno behavior as it approaches the desired equilibrium.
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