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The recent release of large language model (LLM) based chatbots, such as ChatGPT, has attracted significant attention on foundations models. It is widely believed that foundation models will serve as the fundamental building blocks for future AI systems. As foundation models are in their early stages, the design of foundation model based systems has not yet been systematically explored. There is little understanding about the impact of introducing foundation models in software architecture. Therefore, in this paper, we propose a taxonomy of foundation model based systems, which classifies and compares the characteristics of foundation models and foundation model based systems. Our taxonomy comprises three categories: foundation model pretraining and fine-tuning, architecture design of foundation model based systems, and responsible-AI-by-design. This taxonomy provides concrete guidance for making major design decisions when designing foundation model based systems and highlights trade-offs arising from design decisions.

Conversational search systems can improve user experience in digital libraries by facilitating a natural and intuitive way to interact with library content. However, most conversational search systems are limited to performing simple tasks and controlling smart devices. Therefore, there is a need for systems that can accurately understand the user's information requirements and perform the appropriate search activity. Prior research on intelligent systems suggested that it is possible to comprehend the functional aspect of discourse (search intent) by identifying the speech acts in user dialogues. In this work, we automatically identify the speech acts associated with spoken utterances and use them to predict the system-level search actions. First, we conducted a Wizard-of-Oz study to collect data from 75 search sessions. We performed thematic analysis to curate a gold standard dataset -- containing 1,834 utterances and 509 system actions -- of human-system interactions in three information-seeking scenarios. Next, we developed attention-based deep neural networks to understand natural language and predict speech acts. Then, the speech acts were fed to the model to predict the corresponding system-level search actions. We also annotated a second dataset to validate our results. For the two datasets, the best-performing classification model achieved maximum accuracy of 90.2% and 72.7% for speech act classification and 58.8% and 61.1%, respectively, for search act classification.

A learning-based safety filter is developed for discrete-time linear time-invariant systems with unknown models subject to Gaussian noises with unknown covariance. Safety is characterized using polytopic constraints on the states and control inputs. The empirically learned model and process noise covariance with their confidence bounds are used to construct a robust optimization problem for minimally modifying nominal control actions to ensure safety with high probability. The optimization problem relies on tightening the original safety constraints. The magnitude of the tightening is larger at the beginning since there is little information to construct reliable models, but shrinks with time as more data becomes available.

The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and correctness of the created application models. Although the use of frameworks is widespread nowadays, for the most popular of them, Robot Operating System (ROS), a contemporary metamodel has been missing so far. This article proposes a new metamodel for ROS called MeROS, which addresses the running system and developer workspace. The ROS comes in two versions: ROS 1 and ROS 2. The metamodel includes both versions. In particular, the latest ROS 1 concepts are considered, such as nodelet, action, and metapackage. An essential addition to the original ROS concepts is the grouping of these concepts, which provides an opportunity to illustrate the system's decomposition and varying degrees of detail in its presentation. The metamodel is derived from the requirements and verified on the practical example of Rico assistive robot. The matter is described in a standardised way in SysML (Systems Modeling Language). Hence, common development tools that support SysML can help conduct projects in the spirit of SE.

We present a deep learning method for composite and task-driven motion control for physically simulated characters. In contrast to existing data-driven approaches using reinforcement learning that imitate full-body motions, we learn decoupled motions for specific body parts from multiple reference motions simultaneously and directly by leveraging the use of multiple discriminators in a GAN-like setup. In this process, there is no need of any manual work to produce composite reference motions for learning. Instead, the control policy explores by itself how the composite motions can be combined automatically. We further account for multiple task-specific rewards and train a single, multi-objective control policy. To this end, we propose a novel framework for multi-objective learning that adaptively balances the learning of disparate motions from multiple sources and multiple goal-directed control objectives. In addition, as composite motions are typically augmentations of simpler behaviors, we introduce a sample-efficient method for training composite control policies in an incremental manner, where we reuse a pre-trained policy as the meta policy and train a cooperative policy that adapts the meta one for new composite tasks. We show the applicability of our approach on a variety of challenging multi-objective tasks involving both composite motion imitation and multiple goal-directed control.

Conversational recommender systems (CRSs) aim to understand the information needs and preferences expressed in a dialogue to recommend suitable items to the user. Most of the existing conversational recommendation datasets are synthesized or simulated with crowdsourcing, which has a large gap with real-world scenarios. To bridge the gap, previous work contributes a dataset E-ConvRec, based on pre-sales dialogues between users and customer service staff in E-commerce scenarios. However, E-ConvRec only supplies coarse-grained annotations and general tasks for making recommendations in pre-sales dialogues. Different from that, we use real user needs as a clue to explore the E-commerce conversational recommendation in complex pre-sales dialogues, namely user needs-centric E-commerce conversational recommendation (UNECR). In this paper, we construct a user needs-centric E-commerce conversational recommendation dataset (U-NEED) from real-world E-commerce scenarios. U-NEED consists of 3 types of resources: (i) 7,698 fine-grained annotated pre-sales dialogues in 5 top categories (ii) 333,879 user behaviors and (iii) 332,148 product knowledge tuples. To facilitate the research of UNECR, we propose 5 critical tasks: (i) pre-sales dialogue understanding (ii) user needs elicitation (iii) user needs-based recommendation (iv) pre-sales dialogue generation and (v) pre-sales dialogue evaluation. We establish baseline methods and evaluation metrics for each task. We report experimental results of 5 tasks on U-NEED. We also report results in 3 typical categories. Experimental results indicate that the challenges of UNECR in various categories are different.

Deep models, e.g., CNNs and Vision Transformers, have achieved impressive achievements in many vision tasks in the closed world. However, novel classes emerge from time to time in our ever-changing world, requiring a learning system to acquire new knowledge continually. For example, a robot needs to understand new instructions, and an opinion monitoring system should analyze emerging topics every day. Class-Incremental Learning (CIL) enables the learner to incorporate the knowledge of new classes incrementally and build a universal classifier among all seen classes. Correspondingly, when directly training the model with new class instances, a fatal problem occurs -- the model tends to catastrophically forget the characteristics of former ones, and its performance drastically degrades. There have been numerous efforts to tackle catastrophic forgetting in the machine learning community. In this paper, we survey comprehensively recent advances in deep class-incremental learning and summarize these methods from three aspects, i.e., data-centric, model-centric, and algorithm-centric. We also provide a rigorous and unified evaluation of 16 methods in benchmark image classification tasks to find out the characteristics of different algorithms empirically. Furthermore, we notice that the current comparison protocol ignores the influence of memory budget in model storage, which may result in unfair comparison and biased results. Hence, we advocate fair comparison by aligning the memory budget in evaluation, as well as several memory-agnostic performance measures. The source code to reproduce these evaluations is available at //github.com/zhoudw-zdw/CIL_Survey/

Existing recommender systems extract the user preference based on learning the correlation in data, such as behavioral correlation in collaborative filtering, feature-feature, or feature-behavior correlation in click-through rate prediction. However, regretfully, the real world is driven by causality rather than correlation, and correlation does not imply causation. For example, the recommender systems can recommend a battery charger to a user after buying a phone, in which the latter can serve as the cause of the former, and such a causal relation cannot be reversed. Recently, to address it, researchers in recommender systems have begun to utilize causal inference to extract causality, enhancing the recommender system. In this survey, we comprehensively review the literature on causal inference-based recommendation. At first, we present the fundamental concepts of both recommendation and causal inference as the basis of later content. We raise the typical issues that the non-causality recommendation is faced. Afterward, we comprehensively review the existing work of causal inference-based recommendation, based on a taxonomy of what kind of problem causal inference addresses. Last, we discuss the open problems in this important research area, along with interesting future works.

Automated Driving Systems (ADS) have made great achievements in recent years thanks to the efforts from both academia and industry. A typical ADS is composed of multiple modules, including sensing, perception, planning and control, which brings together the latest advances in multiple domains. Despite these achievements, safety assurance of the systems is still of great significance, since the unsafe behavior of ADS can bring catastrophic consequences and unacceptable economic and social losses. Testing is an important approach to system validation for the deployment in practice; in the context of ADS, it is extremely challenging, due to the system complexity and multidisciplinarity. There has been a great deal of literature that focuses on the testing of ADS, and a number of surveys have also emerged to summarize the technical advances. However, most of these surveys focus on the system-level testing that is performed within software simulators, and thereby ignore the distinct features of individual modules. In this paper, we provide a comprehensive survey on the existing ADS testing literature, which takes into account both module-level and system-level testing. Specifically, we make the following contributions: (1) we build a threat model that reveals the potential safety threats for each module of an ADS; (2) we survey the module-level testing techniques for ADS and highlight the technical differences affected by the properties of the modules; (3) we also survey the system-level testing techniques, but we focus on empirical studies that take a bird's-eye view on the system, the problems due to the collaborations between modules, and the gaps between ADS testing in simulators and real world; (4) we identify the challenges and opportunities in ADS testing, which facilitates the future research in this field.

In this monograph, I introduce the basic concepts of Online Learning through a modern view of Online Convex Optimization. Here, online learning refers to the framework of regret minimization under worst-case assumptions. I present first-order and second-order algorithms for online learning with convex losses, in Euclidean and non-Euclidean settings. All the algorithms are clearly presented as instantiation of Online Mirror Descent or Follow-The-Regularized-Leader and their variants. Particular attention is given to the issue of tuning the parameters of the algorithms and learning in unbounded domains, through adaptive and parameter-free online learning algorithms. Non-convex losses are dealt through convex surrogate losses and through randomization. The bandit setting is also briefly discussed, touching on the problem of adversarial and stochastic multi-armed bandits. These notes do not require prior knowledge of convex analysis and all the required mathematical tools are rigorously explained. Moreover, all the proofs have been carefully chosen to be as simple and as short as possible.