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Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking is a pivotal aspect of foresighted navigation among pedestrians. In this paper, we introduce a spatiotemporal attention pipeline for enhanced navigation based on 2D~lidar sensor readings. This pipeline is complemented by a novel lidar-state representation that emphasizes dynamic obstacles over static ones. Subsequently, the attention mechanism enables selective scene perception across both space and time, resulting in improved overall navigation performance within dynamic scenarios. We thoroughly evaluated the approach in different scenarios and simulators, finding excellent generalization to unseen environments. The results demonstrate outstanding performance compared to state-of-the-art methods, thereby enabling the seamless deployment of the learned controller on a real robot.

Cooperative perception can significantly improve the perception performance of autonomous vehicles beyond the limited perception ability of individual vehicles by exchanging information with neighbor agents through V2X communication. However, most existing work assume ideal communication among agents, ignoring the significant and common \textit{interruption issues} caused by imperfect V2X communication, where cooperation agents can not receive cooperative messages successfully and thus fail to achieve cooperative perception, leading to safety risks. To fully reap the benefits of cooperative perception in practice, we propose V2X communication INterruption-aware COoperative Perception (V2X-INCOP), a cooperative perception system robust to communication interruption for V2X communication-aided autonomous driving, which leverages historical cooperation information to recover missing information due to the interruptions and alleviate the impact of the interruption issue. To achieve comprehensive recovery, we design a communication-adaptive multi-scale spatial-temporal prediction model to extract multi-scale spatial-temporal features based on V2X communication conditions and capture the most significant information for the prediction of the missing information. To further improve recovery performance, we adopt a knowledge distillation framework to give explicit and direct supervision to the prediction model and a curriculum learning strategy to stabilize the training of the model. Experiments on three public cooperative perception datasets demonstrate that the proposed method is effective in alleviating the impacts of communication interruption on cooperative perception.

We study existing approaches to leverage off-the-shelf Natural Language Inference (NLI) models for the evaluation of summary faithfulness and argue that these are sub-optimal due to the granularity level considered for premises and hypotheses. That is, the smaller content unit considered as hypothesis is a sentence and premises are made up of a fixed number of document sentences. We propose a novel approach, namely InFusE, that uses a variable premise size and simplifies summary sentences into shorter hypotheses. Departing from previous studies which focus on single short document summarisation, we analyse NLI based faithfulness evaluation for diverse summarisation tasks. We introduce DiverSumm, a new benchmark comprising long form summarisation (long documents and summaries) and diverse summarisation tasks (e.g., meeting and multi-document summarisation). In experiments, InFusE obtains superior performance across the different summarisation tasks. Our code and data are available at //github.com/HJZnlp/infuse.

We present a study of a kernel-based two-sample test statistic related to the Maximum Mean Discrepancy (MMD) in the manifold data setting, assuming that high-dimensional observations are close to a low-dimensional manifold. We characterize the test level and power in relation to the kernel bandwidth, the number of samples, and the intrinsic dimensionality of the manifold. Specifically, when data densities $p$ and $q$ are supported on a $d$-dimensional sub-manifold ${M}$ embedded in an $m$-dimensional space and are H\"older with order $\beta$ (up to 2) on ${M}$, we prove a guarantee of the test power for finite sample size $n$ that exceeds a threshold depending on $d$, $\beta$, and $\Delta_2$ the squared $L^2$-divergence between $p$ and $q$ on the manifold, and with a properly chosen kernel bandwidth $\gamma$. For small density departures, we show that with large $n$ they can be detected by the kernel test when $\Delta_2$ is greater than $n^{- { 2 \beta/( d + 4 \beta ) }}$ up to a certain constant and $\gamma$ scales as $n^{-1/(d+4\beta)}$. The analysis extends to cases where the manifold has a boundary and the data samples contain high-dimensional additive noise. Our results indicate that the kernel two-sample test has no curse-of-dimensionality when the data lie on or near a low-dimensional manifold. We validate our theory and the properties of the kernel test for manifold data through a series of numerical experiments.

Cooperative multi-robot teams need to be able to explore cluttered and unstructured environments while dealing with communication dropouts that prevent them from exchanging local information to maintain team coordination. Therefore, robots need to consider high-level teammate intentions during action selection. In this letter, we present the first Macro Action Decentralized Exploration Network (MADE-Net) using multi-agent deep reinforcement learning (DRL) to address the challenges of communication dropouts during multi-robot exploration in unseen, unstructured, and cluttered environments. Simulated robot team exploration experiments were conducted and compared against classical and DRL methods where MADE-Net outperformed all benchmark methods in terms of computation time, total travel distance, number of local interactions between robots, and exploration rate across various degrees of communication dropouts. A scalability study in 3D environments showed a decrease in exploration time with MADE-Net with increasing team and environment sizes. The experiments presented highlight the effectiveness and robustness of our method.

Stacked intelligent metasurfaces (SIM) is a revolutionary technology, which can outperform its single-layer counterparts by performing advanced signal processing relying on wave propagation. In this work, we exploit SIM to enable transmit precoding and receiver combining in holographic multiple-input multiple-output (HMIMO) communications, and we study the achievable rate by formulating a joint optimization problem of the SIM phase shifts at both sides of the transceiver and the covariance matrix of the transmitted signal. Notably, we propose its solution by means of an iterative optimization algorithm that relies on the projected gradient method, and accounts for all optimization parameters simultaneously. We also obtain the step size guaranteeing the convergence of the proposed algorithm. Simulation results provide fundamental insights such the performance improvements compared to the single-RIS counterpart and conventional MIMO system. Remarkably, the proposed algorithm results in the same achievable rate as the alternating optimization (AO) benchmark but with a less number of iterations.

Affine frequency division multiplexing (AFDM), tailored as a novel multicarrier technique utilizing chirp signals for high-mobility communications, exhibits marked advantages compared to traditional orthogonal frequency division multiplexing (OFDM). AFDM is based on the discrete affine Fourier transform (DAFT) with two modifiable parameters of the chirp signals, termed as the pre-chirp parameter and post-chirp parameter, respectively. These parameters can be fine-tuned to avoid overlapping channel paths with different delays or Doppler shifts, leading to performance enhancement especially for doubly dispersive channel. In this paper, we propose a novel AFDM structure with the pre-chirp index modulation (PIM) philosophy (AFDM-PIM), which can embed additional information bits into the pre-chirp parameter design for both spectral and energy efficiency enhancement. Specifically, we first demonstrate that the application of distinct pre-chirp parameters to various subcarriers in the AFDM modulation process maintains the orthogonality among these subcarriers. Then, different pre-chirp parameters are flexibly assigned to each AFDM subcarrier according to the incoming bits. By such arrangement, aside from classical phase/amplitude modulation, extra binary bits can be implicitly conveyed by the indices of selected pre-chirping parameters realizations without additional energy consumption. At the receiver, both a maximum likelihood (ML) detector and a reduced-complexity ML-minimum mean square error (ML-MMSE) detector are employed to recover the information bits. It has been shown via simulations that the proposed AFDM-PIM exhibits superior bit error rate (BER) performance compared to classical AFDM, OFDM and IM-aided OFDM algorithms.

Transformer architectures have exhibited remarkable performance in image super-resolution (SR). Since the quadratic computational complexity of the self-attention (SA) in Transformer, existing methods tend to adopt SA in a local region to reduce overheads. However, the local design restricts the global context exploitation, which is crucial for accurate image reconstruction. In this work, we propose the Recursive Generalization Transformer (RGT) for image SR, which can capture global spatial information and is suitable for high-resolution images. Specifically, we propose the recursive-generalization self-attention (RG-SA). It recursively aggregates input features into representative feature maps, and then utilizes cross-attention to extract global information. Meanwhile, the channel dimensions of attention matrices (query, key, and value) are further scaled to mitigate the redundancy in the channel domain. Furthermore, we combine the RG-SA with local self-attention to enhance the exploitation of the global context, and propose the hybrid adaptive integration (HAI) for module integration. The HAI allows the direct and effective fusion between features at different levels (local or global). Extensive experiments demonstrate that our RGT outperforms recent state-of-the-art methods quantitatively and qualitatively. Code and pre-trained models are available at //github.com/zhengchen1999/RGT.

The development of autonomous agents which can interact with other agents to accomplish a given task is a core area of research in artificial intelligence and machine learning. Towards this goal, the Autonomous Agents Research Group develops novel machine learning algorithms for autonomous systems control, with a specific focus on deep reinforcement learning and multi-agent reinforcement learning. Research problems include scalable learning of coordinated agent policies and inter-agent communication; reasoning about the behaviours, goals, and composition of other agents from limited observations; and sample-efficient learning based on intrinsic motivation, curriculum learning, causal inference, and representation learning. This article provides a broad overview of the ongoing research portfolio of the group and discusses open problems for future directions.

Knowledge graph embedding, which aims to represent entities and relations as low dimensional vectors (or matrices, tensors, etc.), has been shown to be a powerful technique for predicting missing links in knowledge graphs. Existing knowledge graph embedding models mainly focus on modeling relation patterns such as symmetry/antisymmetry, inversion, and composition. However, many existing approaches fail to model semantic hierarchies, which are common in real-world applications. To address this challenge, we propose a novel knowledge graph embedding model---namely, Hierarchy-Aware Knowledge Graph Embedding (HAKE)---which maps entities into the polar coordinate system. HAKE is inspired by the fact that concentric circles in the polar coordinate system can naturally reflect the hierarchy. Specifically, the radial coordinate aims to model entities at different levels of the hierarchy, and entities with smaller radii are expected to be at higher levels; the angular coordinate aims to distinguish entities at the same level of the hierarchy, and these entities are expected to have roughly the same radii but different angles. Experiments demonstrate that HAKE can effectively model the semantic hierarchies in knowledge graphs, and significantly outperforms existing state-of-the-art methods on benchmark datasets for the link prediction task.