A practical issue of edge AI systems is that data distributions of trained dataset and deployed environment may differ due to noise and environmental changes over time. Such a phenomenon is known as a concept drift, and this gap degrades the performance of edge AI systems and may introduce system failures. To address this gap, a retraining of neural network models triggered by concept drift detection is a practical approach. However, since available compute resources are strictly limited in edge devices, in this paper we propose a lightweight concept drift detection method in cooperation with a recently proposed on-device learning technique of neural networks. In this case, both the neural network retraining and the proposed concept drift detection are done by sequential computation only to reduce computation cost and memory utilization. Evaluation results of the proposed approach shows that while the accuracy is decreased by 3.8%-4.3% compared to existing batch-based detection methods, it decreases the memory size by 88.9%-96.4% and the execution time by 1.3%-83.8%. As a result, the combination of the neural network retraining and the proposed concept drift detection method is demonstrated on Raspberry Pi Pico that has 264kB memory.

联合学习是一种机器学习方法，其中未在服务器上汇总数据，而是根据安全性和隐私性分配给边缘。 Resnet是一个经典但代表性的神经网络，通过学习将输入和输出加在一起的残留功能，成功地加深了神经网络。在联合学习中，服务器和边缘设备之间执行交流以交换权重参数，但是Resnet具有深层和大量参数，因此通信大小变得很大。在本文中，我们将神经颂歌用作重新设计的轻量级模型，以减少联合学习中的沟通规模。此外，我们使用具有不同数量的迭代的神经ODE模型新引入了灵活的联合学习，这与具有不同深度的重新连接相对应。 CIFAR-10数据集用于评估中，与RESNET相比，神经ODE的使用将通信大小降低了约90％。我们还表明，提出的灵活联合学习可以与不同的迭代计数合并模型。

高性能深神经网络（DNN）的系统在边缘环境中的需求量很高。由于其较高的计算复杂性，在严格限制计算资源的边缘设备上部署DNN是一项挑战。在本文中，我们通过结合最近备份的参数还原技术来得出一个紧凑的DNN模型，称为DSODENET：神经ODE（普通微分方程）和DSC（可分开的卷积）。 Neural Ode利用了Resnet和Ode之间的相似性，并在多层之间共享重量参数的大部分，这大大降低了内存消耗。我们将dsodeNet应用于域适应性，作为与图像分类数据集的实际用例。我们还为dsodeNet提出了一种基于资源的FPGA设计，其中所有参数和特征地图除了预处理和后处理层外，都可以映射到芯片上的记忆中。它是在Xilinx ZCU104板上实施的，并根据域的适应精度，推理速度，FPGA资源利用率和与软件对应物相比进行了评估。结果表明，与我们的基线神经ODE实施相比，DSODENET获得了可比较或稍好的域适应精度，而没有预处理和后处理层的总参数大小降低了54.2％至79.8％。我们的FPGA实施将推理速度加速23.8倍。

LIDAR（光检测和测距）SLAM（同时定位和映射）作为室内清洁，导航和行业和家庭中许多其他有用应用的基础。从一系列LIDAR扫描，它构建了一个准确的全球一致的环境模型，并估计它内部的机器人位置。 SLAM本质上是计算密集的;在具有有限的加工能力的移动机器人上实现快速可靠的SLAM系统是一个具有挑战性的问题。为了克服这种障碍，在本文中，我们提出了一种普遍，低功耗和资源有效的加速器设计，用于瞄准资源限制的FPGA。由于扫描匹配位于SLAM的核心，所提出的加速器包括可编程逻辑部分上的专用扫描匹配核心，并提供软件接口以便于使用。我们的加速器可以集成到各种SLAM方法，包括基于ROS（机器人操作系统） - 基于ROS（机器人操作系统），并且用户可以切换到不同的方法而不修改和重新合成逻辑部分。我们将加速器集成为三种广泛使用的方法，即扫描匹配，粒子滤波器和基于图形的SLAM。我们使用现实世界数据集评估资源利用率，速度和输出结果质量方面的设计。 Pynq-Z2板上的实验结果表明，我们的设计将扫描匹配和循环闭合检测任务加速高达14.84倍和18.92倍，分别在上述方法中产生4.67倍，4.00倍和4.06倍的整体性能改进。我们的设计能够实现实时性能，同时仅消耗2.4W并保持精度，可与软件对应物乃至最先进的方法相当。

odeNet是一个深神经网络架构，其中Reset的堆叠结构用普通微分方程（ode）求解器实现。通过在训练阶段使用更多内存的更精确的训练算法，通过在训练阶段中引入更多精确的训练算法，阳极是稳定高精度的延长方法。还可以提高对资源限制边缘设备上相同数量的参数的同时提高准确性。本文使用欧拉方法作为颂歌求解器，在低成本FPGA（现场可编程门阵列）板上实现了OdeNet和阳极的一部分作为专用逻辑，例如Pynq-Z2板。作为odeNet变型，提出并分析了低成本FPGA实现，减少了各自利用odeNet层的一部分和减少/消除一些层的减少的odeenets（rodenets）。此外，提出了以类似于RodeNet的方式作为阳极变体的Ranode。它们在FPGA上的参数大小，准确性，执行时间和资源利用方面进行评估。结果表明，与纯软件执行相比，RodeNet和Ranode变体的总体执行时间高达2.66倍，同时保持对原始odeNet和阳极的可比精度。

Owing to the widespread adoption of the Internet of Things, a vast amount of sensor information is being acquired in real time. Accordingly, the communication cost of data from edge devices is increasing. Compressed sensing (CS), a data compression method that can be used on edge devices, has been attracting attention as a method to reduce communication costs. In CS, estimating the appropriate compression ratio is important. There is a method to adaptively estimate the compression ratio for the acquired data using reinforcement learning. However, the computational costs associated with existing reinforcement learning methods that can be utilized on edges are expensive. In this study, we developed an efficient reinforcement learning method for edge devices, referred to as the actor--critic online sequential extreme learning machine (AC-OSELM), and a system to compress data by estimating an appropriate compression ratio on the edge using AC-OSELM. The performance of the proposed method in estimating the compression ratio is evaluated by comparing it with other reinforcement learning methods for edge devices. The experimental results show that AC-OSELM achieved the same or better compression performance and faster compression ratio estimation than the existing methods.

IR models using a pretrained language model significantly outperform lexical approaches like BM25. In particular, SPLADE, which encodes texts to sparse vectors, is an effective model for practical use because it shows robustness to out-of-domain datasets. However, SPLADE still struggles with exact matching of low-frequency words in training data. In addition, domain shifts in vocabulary and word frequencies deteriorate the IR performance of SPLADE. Because supervision data are scarce in the target domain, addressing the domain shifts without supervision data is necessary. This paper proposes an unsupervised domain adaptation method by filling vocabulary and word-frequency gaps. First, we expand a vocabulary and execute continual pretraining with a masked language model on a corpus of the target domain. Then, we multiply SPLADE-encoded sparse vectors by inverse document frequency weights to consider the importance of documents with lowfrequency words. We conducted experiments using our method on datasets with a large vocabulary gap from a source domain. We show that our method outperforms the present stateof-the-art domain adaptation method. In addition, our method achieves state-of-the-art results, combined with BM25.

To ensure the safety of railroad operations, it is important to monitor and forecast track geometry irregularities. A higher safety requires forecasting with a higher spatiotemporal frequency. For forecasting with a high spatiotemporal frequency, it is necessary to capture spatial correlations. Additionally, track geometry irregularities are influenced by multiple exogenous factors. In this study, we propose a method to forecast one type of track geometry irregularity, vertical alignment, by incorporating spatial and exogenous factor calculations. The proposed method embeds exogenous factors and captures spatiotemporal correlations using a convolutional long short-term memory (ConvLSTM). In the experiment, we compared the proposed method with other methods in terms of the forecasting performance. Additionally, we conducted an ablation study on exogenous factors to examine their contribution to the forecasting performance. The results reveal that spatial calculations and maintenance record data improve the forecasting of the vertical alignment.

Embodied Instruction Following (EIF) studies how mobile manipulator robots should be controlled to accomplish long-horizon tasks specified by natural language instructions. While most research on EIF are conducted in simulators, the ultimate goal of the field is to deploy the agents in real life. As such, it is important to minimize the data cost required for training an agent, to help the transition from sim to real. However, many studies only focus on the performance and overlook the data cost -- modules that require separate training on extra data are often introduced without a consideration on deployability. In this work, we propose FILM++ which extends the existing work FILM with modifications that do not require extra data. While all data-driven modules are kept constant, FILM++ more than doubles FILM's performance. Furthermore, we propose Prompter, which replaces FILM++'s semantic search module with language model prompting. Unlike FILM++'s implementation that requires training on extra sets of data, no training is needed for our prompting based implementation while achieving better or at least comparable performance. Prompter achieves 42.64% and 45.72% on the ALFRED benchmark with high-level instructions only and with step-by-step instructions, respectively, outperforming the previous state of the art by 6.57% and 10.31%.

长尾数据集（Head Class）组成的培训样本比尾巴类别多得多，这会导致识别模型对头等舱有偏见。加权损失是缓解此问题的最受欢迎的方法之一，最近的一项工作表明，班级难度可能比常规使用的类频率更好地决定了权重的分布。在先前的工作中使用了一种启发式公式来量化难度，但是我们从经验上发现，最佳公式取决于数据集的特征。因此，我们提出了困难网络，该难题学习在元学习框架中使用模型的性能来预测类的难度。为了使其在其他班级的背景下学习班级的合理难度，我们新介绍了两个关键概念，即相对难度和驾驶员损失。前者有助于困难网络在计算班级难度时考虑其他课程，而后者对于将学习指向有意义的方向是必不可少的。对流行的长尾数据集进行了广泛的实验证明了该方法的有效性，并且在多个长尾数据集上实现了最先进的性能。