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The Probability Ranking Principle (PRP) has been considered as the foundational standard in the design of information retrieval (IR) systems. The principle requires an IR module's returned list of results to be ranked with respect to the underlying user interests, so as to maximize the results' utility. Nevertheless, we point out that it is inappropriate to indiscriminately apply PRP through every stage of a contemporary IR system. Such systems contain multiple stages (e.g., retrieval, pre-ranking, ranking, and re-ranking stages, as examined in this paper). The \emph{selection bias} inherent in the model of each stage significantly influences the results that are ultimately presented to users. To address this issue, we propose an improved ranking principle for multi-stage systems, namely the Generalized Probability Ranking Principle (GPRP), to emphasize both the selection bias in each stage of the system pipeline as well as the underlying interest of users. We realize GPRP via a unified algorithmic framework named Full Stage Learning to Rank. Our core idea is to first estimate the selection bias in the subsequent stages and then learn a ranking model that best complies with the downstream modules' selection bias so as to deliver its top ranked results to the final ranked list in the system's output. We performed extensive experiment evaluations of our developed Full Stage Learning to Rank solution, using both simulations and online A/B tests in one of the leading short-video recommendation platforms. The algorithm is proved to be effective in both retrieval and ranking stages. Since deployed, the algorithm has brought consistent and significant performance gain to the platform.

Considering learner engagement has a mutual benefit for both learners and instructors. Instructors can help learners increase their attention, involvement, motivation, and interest. On the other hand, instructors can improve their instructional performance by evaluating the cumulative results of all learners and upgrading their training programs. This paper proposes a general, lightweight model for selecting and processing features to detect learners' engagement levels while preserving the sequential temporal relationship over time. During training and testing, we analyzed the videos from the publicly available DAiSEE dataset to capture the dynamic essence of learner engagement. We have also proposed an adaptation policy to find new labels that utilize the affective states of this dataset related to education, thereby improving the models' judgment. The suggested model achieves an accuracy of 68.57\% in a specific implementation and outperforms the studied state-of-the-art models detecting learners' engagement levels.

The latest developments in Natural Language Processing (NLP) have demonstrated remarkable progress in a code-text retrieval problem. As the Transformer-based models used in this task continue to increase in size, the computational costs and time required for end-to- end fine-tuning become substantial. This poses a significant challenge for adapting and utilizing these models when computational resources are limited. Motivated by these concerns, we propose a fine-tuning frame- work that leverages Parameter-Efficient Fine-Tuning (PEFT) techniques. Moreover, we adopt contrastive learning objectives to improve the quality of bimodal representations learned by transformer models. Additionally, for PEFT methods we provide extensive benchmarking, the lack of which has been highlighted as a crucial problem in the literature. Based on the thorough experimentation with the CodeT5+ model conducted on two datasets, we demonstrate that the proposed fine-tuning framework has the potential to improve code-text retrieval performance by tuning only 0.4% parameters at most.

Planning safe trajectories in Autonomous Driving Systems (ADS) is a complex problem to solve in real-time. The main challenge to solve this problem arises from the various conditions and constraints imposed by road geometry, semantics and traffic rules, as well as the presence of dynamic agents. Recently, Model Predictive Path Integral (MPPI) has shown to be an effective framework for optimal motion planning and control in robot navigation in unstructured and highly uncertain environments. In this paper, we formulate the motion planning problem in ADS as a nonlinear stochastic dynamic optimization problem that can be solved using an MPPI strategy. The main technical contribution of this work is a method to handle obstacles within the MPPI formulation safely. In this method, obstacles are approximated by circles that can be easily integrated into the MPPI cost formulation while considering safety margins. The proposed MPPI framework has been efficiently implemented in our autonomous vehicle and experimentally validated using three different primitive scenarios. Experimental results show that generated trajectories are safe, feasible and perfectly achieve the planning objective. The video results as well as the open-source implementation are available at: //gitlab.uni.lu/360lab-public/mppi

Large Language Models (LLMs) have become integral to a wide spectrum of applications, ranging from traditional computing tasks to advanced artificial intelligence (AI) applications. This widespread adoption has spurred extensive research into LLMs across various disciplines, including the social sciences. Notably, studies have revealed that LLMs possess emotional intelligence, which can be further developed through positive emotional stimuli. This discovery raises an intriguing question: can negative emotions similarly influence LLMs, potentially enhancing their performance? In response to this question, we introduce NegativePrompt, a novel approach underpinned by psychological principles, involving ten specifically designed negative emotional stimuli. We embark on rigorous experimental evaluations of five LLMs including Flan-T5-Large, Vicuna, Llama 2, ChatGPT, and GPT-4, across a set of 45 tasks. The results are revealing: NegativePrompt markedly enhances the performance of LLMs, evidenced by relative improvements of 12.89% in Instruction Induction tasks and 46.25% in BIG-Bench tasks. Moreover, we conduct attention visualization experiments to decipher the underlying mechanisms of NegativePrompt's influence. Our research contributes significantly to the understanding of LLMs and emotion interaction, demonstrating the practical efficacy of NegativePrompt as an emotion-driven method and offering novel insights for the enhancement of LLMs in real-world applications. The code is available at //github.com/wangxu0820/NegativePrompt.

Multi-Robot-Arm Motion Planning (M-RAMP) is a challenging problem featuring complex single-agent planning and multi-agent coordination. Recent advancements in extending the popular Conflict-Based Search (CBS) algorithm have made large strides in solving Multi-Agent Path Finding (MAPF) problems. However, fundamental challenges remain in applying CBS to M-RAMP. A core challenge is the existing reliance of the CBS framework on conservative "complete" constraints. These constraints ensure solution guarantees but often result in slow pruning of the search space -- causing repeated expensive single-agent planning calls. Therefore, even though it is possible to leverage domain knowledge and design incomplete M-RAMP-specific CBS constraints to more efficiently prune the search, using these constraints would render the algorithm itself incomplete. This forces practitioners to choose between efficiency and completeness. In light of these challenges, we propose a novel algorithm, Generalized ECBS, aimed at removing the burden of choice between completeness and efficiency in MAPF algorithms. Our approach enables the use of arbitrary constraints in conflict-based algorithms while preserving completeness and bounding sub-optimality. This enables practitioners to capitalize on the benefits of arbitrary constraints and opens a new space for constraint design in MAPF that has not been explored. We provide a theoretical analysis of our algorithms, propose new "incomplete" constraints, and demonstrate their effectiveness through experiments in M-RAMP.

Unmanned Aerial Vehicles (UAVs) have emerged as a transformative technology across diverse sectors, offering adaptable solutions to complex challenges in both military and civilian domains. Their expanding capabilities present a platform for further advancement by integrating cutting-edge computational tools like Artificial Intelligence (AI) and Machine Learning (ML) algorithms. These advancements have significantly impacted various facets of human life, fostering an era of unparalleled efficiency and convenience. Large Language Models (LLMs), a key component of AI, exhibit remarkable learning and adaptation capabilities within deployed environments, demonstrating an evolving form of intelligence with the potential to approach human-level proficiency. This work explores the significant potential of integrating UAVs and LLMs to propel the development of autonomous systems. We comprehensively review LLM architectures, evaluating their suitability for UAV integration. Additionally, we summarize the state-of-the-art LLM-based UAV architectures and identify novel opportunities for LLM embedding within UAV frameworks. Notably, we focus on leveraging LLMs to refine data analysis and decision-making processes, specifically for enhanced spectral sensing and sharing in UAV applications. Furthermore, we investigate how LLM integration expands the scope of existing UAV applications, enabling autonomous data processing, improved decision-making, and faster response times in emergency scenarios like disaster response and network restoration. Finally, we highlight crucial areas for future research that are critical for facilitating the effective integration of LLMs and UAVs.

Graph Neural Networks (GNNs) have gained momentum in graph representation learning and boosted the state of the art in a variety of areas, such as data mining (\emph{e.g.,} social network analysis and recommender systems), computer vision (\emph{e.g.,} object detection and point cloud learning), and natural language processing (\emph{e.g.,} relation extraction and sequence learning), to name a few. With the emergence of Transformers in natural language processing and computer vision, graph Transformers embed a graph structure into the Transformer architecture to overcome the limitations of local neighborhood aggregation while avoiding strict structural inductive biases. In this paper, we present a comprehensive review of GNNs and graph Transformers in computer vision from a task-oriented perspective. Specifically, we divide their applications in computer vision into five categories according to the modality of input data, \emph{i.e.,} 2D natural images, videos, 3D data, vision + language, and medical images. In each category, we further divide the applications according to a set of vision tasks. Such a task-oriented taxonomy allows us to examine how each task is tackled by different GNN-based approaches and how well these approaches perform. Based on the necessary preliminaries, we provide the definitions and challenges of the tasks, in-depth coverage of the representative approaches, as well as discussions regarding insights, limitations, and future directions.

Knowledge Graph Embedding (KGE) aims to learn representations for entities and relations. Most KGE models have gained great success, especially on extrapolation scenarios. Specifically, given an unseen triple (h, r, t), a trained model can still correctly predict t from (h, r, ?), or h from (?, r, t), such extrapolation ability is impressive. However, most existing KGE works focus on the design of delicate triple modeling function, which mainly tells us how to measure the plausibility of observed triples, but offers limited explanation of why the methods can extrapolate to unseen data, and what are the important factors to help KGE extrapolate. Therefore in this work, we attempt to study the KGE extrapolation of two problems: 1. How does KGE extrapolate to unseen data? 2. How to design the KGE model with better extrapolation ability? For the problem 1, we first discuss the impact factors for extrapolation and from relation, entity and triple level respectively, propose three Semantic Evidences (SEs), which can be observed from train set and provide important semantic information for extrapolation. Then we verify the effectiveness of SEs through extensive experiments on several typical KGE methods. For the problem 2, to make better use of the three levels of SE, we propose a novel GNN-based KGE model, called Semantic Evidence aware Graph Neural Network (SE-GNN). In SE-GNN, each level of SE is modeled explicitly by the corresponding neighbor pattern, and merged sufficiently by the multi-layer aggregation, which contributes to obtaining more extrapolative knowledge representation. Finally, through extensive experiments on FB15k-237 and WN18RR datasets, we show that SE-GNN achieves state-of-the-art performance on Knowledge Graph Completion task and performs a better extrapolation ability.

Multi-agent influence diagrams (MAIDs) are a popular form of graphical model that, for certain classes of games, have been shown to offer key complexity and explainability advantages over traditional extensive form game (EFG) representations. In this paper, we extend previous work on MAIDs by introducing the concept of a MAID subgame, as well as subgame perfect and trembling hand perfect equilibrium refinements. We then prove several equivalence results between MAIDs and EFGs. Finally, we describe an open source implementation for reasoning about MAIDs and computing their equilibria.