Li Chen

Hao Sha, Yao Mu, Yuxuan Jiang et al.

Existing learning-based autonomous driving (AD) systems face challenges in comprehending high-level information, generalizing to rare events, and providing interpretability. To address these problems, this work employs Large Language Models (LLMs) as a decision-making component for complex AD scenarios that require human commonsense understanding. We devise cognitive pathways to enable comprehensive reasoning with LLMs, and develop algorithms for translating LLM decisions into actionable driving commands. Through this approach, LLM decisions are seamlessly integrated with low-level controllers by guided parameter matrix adaptation. Extensive experiments demonstrate that our proposed method not only consistently surpasses baseline approaches in single-vehicle tasks, but also helps handle complex driving behaviors even multi-vehicle coordination, thanks to the commonsense reasoning capabilities of LLMs. This paper presents an initial step toward leveraging LLMs as effective decision-makers for intricate AD scenarios in terms of safety, efficiency, generalizability, and interoperability. We aspire for it to serve as inspiration for future research in this field. Project page: https://sites.google.com/view/llm-mpc

Simin Javaherian, Sanjeev Panta, Shelby Williams et al.

Federated Learning (FL) is an emerging paradigm in machine learning without exposing clients' raw data. In practical scenarios with numerous clients, encouraging fair and efficient client participation in federated learning is of utmost importance, which is also challenging given the heterogeneity in data distribution and device properties. Existing works have proposed different client-selection methods that consider fairness; however, they fail to select clients with high utilities while simultaneously achieving fair accuracy levels. In this paper, we propose a fair client-selection approach that unlocks threefold fairness in federated learning. In addition to having a fair client-selection strategy, we enforce an equitable number of rounds for client participation and ensure a fair accuracy distribution over the clients. The experimental results demonstrate that FedFair^3, in comparison to the state-of-the-art baselines, achieves 18.15% less accuracy variance on the IID data and 54.78% on the non-IID data, without decreasing the global accuracy. Furthermore, it shows 24.36% less wall-clock training time on average.