Yixin Han

Yuxuan Chen, Yixin Han, Xiao Li

With the rapid development of large language models (LLM), robots are starting to enjoy the benefits of new interaction methods that large language models bring. Because edge computing fulfills the needs for rapid response, privacy, and network autonomy, we believe it facilitates the extensive deployment of large models for robot navigation across various industries. To enable local deployment of language models on edge devices, we adopt some model boosting methods. In this paper, we propose FASTNav - a method for boosting lightweight LLMs, also known as small language models (SLMs), for robot navigation. The proposed method contains three modules: fine-tuning, teacher-student iteration, and language-based multi-point robot navigation. We train and evaluate models with FASTNav in both simulation and real robots, proving that we can deploy them with low cost, high accuracy and low response time. Compared to other model compression methods, FASTNav shows potential in the local deployment of language models and tends to be a promising solution for language-guided robot navigation on edge devices.

Haoyu Wei, Xiaoyu Lei, Yixin Han et al.

Identifying important features linked to a response variable is a fundamental task in various scientific domains. This article explores statistical inference for simulated Markov random fields in high-dimensional settings. We introduce a methodology based on Markov Chain Monte Carlo Maximum Likelihood Estimation (MCMC-MLE) with Elastic-net regularization. Under mild conditions on the MCMC method, our penalized MCMC-MLE method achieves $\ell_{1}$-consistency. We propose a decorrelated score test, establishing both its asymptotic normality and that of a one-step estimator, along with the associated confidence interval. Furthermore, we construct two false discovery rate control procedures via the asymptotic behaviors for both p-values and e-values. Comprehensive numerical simulations confirm the theoretical validity of the proposed methods.