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Interconnection networks, or `interconnects,' play a crucial role in administering the communication among computing units of high-performance computing (HPC) systems. Efficient provisioning of interconnects minimizes the processing delay wherein computing units await information sharing between each other, thereby enhancing the overall computation efficiency. Ideally, interconnects are designed with topologies tailored to match specific workflows, requiring diverse structures for different applications. However, since modifying their structures mid-operation renders impractical, indirect communication incurs across distant units. In managing numerous long-routed data deliveries, heavy burdens on the network side may lead to the under-utilization of computing resources. In view of state-of-the-art HPC paradigms that solicit dense interconnections for diverse computation-hungry applications, this article presents a versatile wireless interconnecting framework, coined as Wireless Interconnection NEtwork (WINE). The framework exploits cutting-edge wireless technologies that promote workload adaptability and scalability of modern interconnects. Design and implementation of wirelessly reliable links are strategized under network-oriented scrutiny of HPC architectures. A virtual HPC platform is developed to assess WINE's feasibilities, verifying its practicality for integration into modern HPC infrastructures., Comment: 20 pages, 5 figures, to be published in IEEE Wireless Communications Magazine

Reinforcement learning (RL) provides a compelling framework for enabling autonomous vehicles to continue to learn and improve diverse driving behaviors on their own. However, training real-world autonomous vehicles with current RL algorithms presents several challenges. One critical challenge, often overlooked in these algorithms, is the need to reset a driving environment between every episode. While resetting an environment after each episode is trivial in simulated settings, it demands significant human intervention in the real world. In this paper, we introduce a novel autonomous algorithm that allows off-the-shelf RL algorithms to train an autonomous vehicle with minimal human intervention. Our algorithm takes into account the learning progress of the autonomous vehicle to determine when to abort episodes before it enters unsafe states and where to reset it for subsequent episodes in order to gather informative transitions. The learning progress is estimated based on the novelty of both current and future states. We also take advantage of rule-based autonomous driving algorithms to safely reset an autonomous vehicle to an initial state. We evaluate our algorithm against baselines on diverse urban driving tasks. The experimental results show that our algorithm is task-agnostic and achieves better driving performance with fewer manual resets than baselines., Comment: 8 pages, 6 figures, 2 tables, conference

Future wireless network technology provides automobiles with the connectivity feature to consolidate the concept of vehicular networks that collaborate on conducting cooperative driving tasks. The full potential of connected vehicles, which promises road safety and quality driving experience, can be leveraged if machine learning models guarantee the robustness in performing core functions including localization and controls. Location awareness, in particular, lends itself to the deployment of location-specific services and the improvement of the operation performance. The localization entails direct communication to the network infrastructure, and the resulting centralized positioning solutions readily become intractable as the network scales up. As an alternative to the centralized solutions, this article addresses decentralized principle of vehicular localization reinforced by machine learning techniques in dense urban environments with frequent inaccessibility to reliable measurement. As such, the collaboration of multiple vehicles enhances the positioning performance of machine learning approaches. A virtual testbed is developed to validate this machine learning model for real-map vehicular networks. Numerical results demonstrate universal feasibility of cooperative localization, in particular, for dense urban area configurations.

Autonomous vehicles have been actively investigated over the past few decades. Several recent works show the potential of autonomous vehicles in urban environments with impressive experimental results. However, these works note that autonomous vehicles are still occasionally inferior to expert drivers in complex scenarios. Furthermore, they do not focus on the possibilities of autonomous driving transportation services in other areas beyond urban environments. This paper presents the research results and lessons learned from autonomous driving transportation services in airfield, crowded indoor, and urban environments. We discuss how we address several unique challenges in these diverse environments. We also offer an overview of remaining challenges that have not received much attention but must be addressed. This paper aims to share our unique experience to support researchers who are interested in exploring autonomous driving transportation services in various real-world environments., Comment: 8 pages, 7 figures, 4 tables

Hierarchical reinforcement learning (HRL) incorporates temporal abstraction into reinforcement learning (RL) by explicitly taking advantage of hierarchical structure. Modern HRL typically designs a hierarchical agent composed of a high-level policy and low-level policies. The high-level policy selects which low-level policy to activate at a lower frequency and the activated low-level policy selects an action at each time step. Recent HRL algorithms have achieved performance gains over standard RL algorithms in synthetic navigation tasks. However, we cannot apply these HRL algorithms to real-world navigation tasks. One of the main challenges is that real-world navigation tasks require an agent to perform safe and interactive behaviors in dynamic environments. In this paper, we propose imagination-augmented HRL (IAHRL) that efficiently integrates imagination into HRL to enable an agent to learn safe and interactive behaviors in real-world navigation tasks. Imagination is to predict the consequences of actions without interactions with actual environments. The key idea behind IAHRL is that the low-level policies imagine safe and structured behaviors, and then the high-level policy infers interactions with surrounding objects by interpreting the imagined behaviors. We also introduce a new attention mechanism that allows our high-level policy to be permutation-invariant to the order of surrounding objects and to prioritize our agent over them. To evaluate IAHRL, we introduce five complex urban driving tasks, which are among the most challenging real-world navigation tasks. The experimental results indicate that IAHRL enables an agent to perform safe and interactive behaviors, achieving higher success rates and lower average episode steps than baselines., Comment: 15 pages, 9 figures; corrected typos, added references, revised experiments (results unchanged)

A significant bottleneck in applying current reinforcement learning algorithms to real-world scenarios is the need to reset the environment between every episode. This reset process demands substantial human intervention, making it difficult for the agent to learn continuously and autonomously. Several recent works have introduced autonomous reinforcement learning (ARL) algorithms that generate curricula for jointly training reset and forward policies. While their curricula can reduce the number of required manual resets by taking into account the agent's learning progress, they rely on task-specific knowledge, such as predefined initial states or reset reward functions. In this paper, we propose a novel ARL algorithm that can generate a curriculum adaptive to the agent's learning progress without task-specific knowledge. Our curriculum empowers the agent to autonomously reset to diverse and informative initial states. To achieve this, we introduce a success discriminator that estimates the success probability from each initial state when the agent follows the forward policy. The success discriminator is trained with relabeled transitions in a self-supervised manner. Our experimental results demonstrate that our ARL algorithm can generate an adaptive curriculum and enable the agent to efficiently bootstrap to solve sparse-reward maze navigation and manipulation tasks, outperforming baselines with significantly fewer manual resets., Comment: 8 pages, 8 figures

Gradient-based trajectory optimization with B-spline curves is widely used for unmanned aerial vehicles (UAVs) due to its fast convergence and continuous trajectory generation. However, the application of B-spline curves for path-velocity coupled trajectory planning in autonomous vehicles (AVs) has been highly limited because it is challenging to reduce the over-approximation of the vehicle shape and to create a collision-free trajectory using B-spline curves while satisfying kinodynamic constraints. To address these challenges, this paper proposes novel disc-type swept volume (SV), incremental path flattening (IPF), and kinodynamic feasibility penalty methods. The disc-type SV estimation method is a new technique to reduce SV over-approximation and is used to find collision points for IPF. In IPF, the collision points are used to push the trajectory away from obstacles and to iteratively increase the curvature weight, thereby reducing SV and generating a collision-free trajectory. Additionally, to satisfy kinodynamic constraints for AVs using B-spline curves, we apply a clamped B-spline curvature penalty along with longitudinal and lateral velocity and acceleration penalties. Our experimental results demonstrate that our method outperforms state-of-the-art baselines in various simulated environments. We also conducted a real-world experiment using an AV, and our results validate the simulated tracking performance of the proposed approach., Comment: 16 pages, 21 figures, 5 tables, 3 algorithms

Multifunctional coatings are central for information, biomedical, transportation and energy technologies. These coatings must possess hard-to-attain properties and be scalable, adaptable, and sustainable, which makes layer-by-layer assembly (LBL) of nanomaterials uniquely suitable for these technologies. What remains largely unexplored is that LBL enables computational methodologies for structural design of these composites. Utilizing silver nanowires (NWs), we develop and validate a graph theoretical (GT) description of their LBL composites. GT successfully describes the multilayer structure with nonrandom disorder and enables simultaneous rapid assessment of several properties of electrical conductivity, electromagnetic transparency, and anisotropy. GT models for property assessment can be rapidly validated due to (1) quasi-2D confinement of NWs and (2) accurate microscopy data for stochastic organization of the NW networks. We finally show that spray-assisted LBL offers direct translation of the GT-based design of composite coatings to additive, scalable manufacturing of drone wings with straightforward extensions to other technologies.

One of the unresolved challenges for autonomous vehicles is safe navigation among occluded pedestrians and vehicles. Previous approaches included generating phantom vehicles and assessing their risk, but they often made the ego vehicle overly conservative or could not conduct a real-time risk assessment in heavily occluded situations. We propose an efficient occlusion-aware risk assessment method using simplified reachability quantification that quantifies the reachability of phantom agents with a simple distribution model on phantom agents' state. Furthermore, we propose a driving strategy for safe and efficient navigation in occluded areas that sets the speed limit of an autonomous vehicle using the risk of phantom agents. Simulations were conducted to evaluate the performance of the proposed method in various occlusion scenarios involving other vehicles and obstacles. Compared with the baseline case of no occlusion-aware risk assessment, the proposed method increased the traversal time of an intersection by 1.48 times but decreased the average collision rate and discomfort score by up to 6.14 times and 5.03 times, respectively. The proposed method has shown the state-of-the-art level of time efficiency with constant time complexity and computational time less than 5 ms., Comment: 8 pages, 11 figures IEEE ROBOTICS AND AUTOMATION LETTERS. PREPRINT VERSION. ACCEPTED OCTOBER, 2023

This paper presents a machine learning strategy that tackles a distributed optimization task in a wireless network with an arbitrary number of randomly interconnected nodes. Individual nodes decide their optimal states with distributed coordination among other nodes through randomly varying backhaul links. This poses a technical challenge in distributed universal optimization policy robust to a random topology of the wireless network, which has not been properly addressed by conventional deep neural networks (DNNs) with rigid structural configurations. We develop a flexible DNN formalism termed distributed message-passing neural network (DMPNN) with forward and backward computations independent of the network topology. A key enabler of this approach is an iterative message-sharing strategy through arbitrarily connected backhaul links. The DMPNN provides a convergent solution for iterative coordination by learning numerous random backhaul interactions. The DMPNN is investigated for various configurations of the power control in wireless networks, and intensive numerical results prove its universality and viability over conventional optimization and DNN approaches., Comment: to appear in IEEE TWC

Obesity is associated with higher fatality risk and altered distribution of occupant injuries in motor vehicle crashes partially because of the increased depth of abdominal soft tissue, which results in limited and delayed engagement of the lap belt with the pelvis and increases the risk of pelvis submarining under the lap belt exposing occupant abdomen to belt loading., Comment: IRCOBI Asia 2020