Volodymyr Kindratenko

A long-standing engineering problem, the control of soft robots is difficult because of their highly nonlinear, heterogeneous, anisotropic, and distributed nature. Here, bridging engineering and biology, neural reservoirs are employed for the dynamic control of a bio-hybrid model arm made of multiple muscle-tendon groups enveloping an elastic spine. We show how the use of reservoirs facilitates simultaneous control and self-modeling across challenging tasks, outperforming classic neural network approaches. Further, through the use of spiking reservoirs on neuromorphic hardware, energy efficiency gains of up to 75 and 45 times are obtained relative to standard and high-efficiency CPUs, with implications for the on-board control of untethered, small-scale systems.

Training language models (LMs) and their application agents is increasingly costly due to large datasets and models, making test failures difficult to bear. Simplified language environments serve as primordial training and testing grounds, retaining essential commonsense and communication skills but in a more digestible form, potentially enhancing the learning efficiency of LMs, and thus reducing the required model size and data volume for effective training and evaluation. In these simplified language environments, workable strategies for small models, datasets, and agents may be adaptable to larger models, datasets, and agents in complex language environments. To create such environments, we focus on two aspects: i) minimizing language dataset noise and complexity, and ii) preserving the essential text distribution characteristics. Unlike previous methods, we propose a pipeline to refine text data by eliminating noise, minimizing vocabulary, and maintaining genre-specific patterns (e.g., for books, conversation, code, etc.). Implementing this pipeline with large LMs, we have created a leaner suite of LM training and evaluation datasets: 71M Leaner-Pretrain, 7M Leaner-Instruct, Leaner-Glue for assessing linguistic proficiency, and Leaner-Eval for testing instruction-following ability. Our experiments show that leaner pre-training boosts LM learning efficiency. Tiny LMs trained on these datasets outperform those trained on original datasets in instruction-following across different language granularity levels. Moreover, the Leaner-Pretrain dataset's alignment with conventional large LM training sets enables resource-optimized analysis of how learning objectives, model architectures, and training techniques impact performance on language modeling and downstream tasks. Our code and datasets are available at https://github.com/EmpathYang/TinyHelen.git.

This study presents a novel AI method for extracting polygon and point features from historical geologic maps, representing a pivotal step for assessing the mineral resources needed for energy transition. Our innovative method involves using map units in the legends as prompts for one-shot segmentation and detection in geological feature extraction. The model, integrated with a human-in-the-loop system, enables geologists to refine results efficiently, combining the power of AI with expert oversight. Tested on geologic maps annotated by USGS and DARPA for the AI4CMA DARPA Challenge, our approach achieved a median F1 score of 0.91 for polygon feature segmentation and 0.73 for point feature detection when such features had abundant annotated data, outperforming current benchmarks. By efficiently and accurately digitizing historical geologic map, our method promises to provide crucial insights for responsible policymaking and effective resource management in the global energy transition.

Convolutional Neural Networks (CNNs) have demonstrated exceptional performance in recent years. Compressing these models not only reduces storage requirements, making deployment to edge devices feasible, but also accelerates inference, thereby reducing latency and computational costs. Structured pruning, which removes filters at the layer level, directly modifies the model architecture. This approach achieves a more compact architecture while maintaining target accuracy, ensuring that the compressed model retains good compatibility and hardware efficiency. Our method is based on a key observation: filters in different layers of a neural network have varying importance to the model's performance. When the number of filters to prune is fixed, the optimal pruning distribution across different layers is uneven to minimize performance loss. Layers that are more sensitive to pruning should account for a smaller proportion of the pruning distribution. To leverage this insight, we propose RL-Pruner, which uses reinforcement learning to learn the optimal pruning distribution. RL-Pruner can automatically extract dependencies between filters in the input model and perform pruning, without requiring model-specific pruning implementations. We conducted experiments on models such as GoogleNet, ResNet, and MobileNet, comparing our approach to other structured pruning methods to validate its effectiveness. Our code is available at https://github.com/Beryex/RLPruner-CNN.