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In the field of Learning from Demonstration (LfD), Dynamical Systems (DSs) have gained significant attention due to their ability to generate real-time motions and reach predefined targets. However, the conventional convergence-centric behavior exhibited by DSs may fall short in safety-critical tasks, specifically, those requiring precise replication of demonstrated trajectories or strict adherence to constrained regions even in the presence of perturbations or human intervention. Moreover, existing DS research often assumes demonstrations solely in Euclidean space, overlooking the crucial aspect of orientation in various applications. To alleviate these shortcomings, we present an innovative approach geared toward ensuring the safe execution of learned orientation skills within constrained regions surrounding a reference trajectory. This involves learning a stable DS on SO(3), extracting time-varying conic constraints from the variability observed in expert demonstrations, and bounding the evolution of the DS with Conic Control Barrier Function (CCBF) to fulfill the constraints. We validated our approach through extensive evaluation in simulation and showcased its effectiveness for a cutting skill in the context of assisted teleoperation.

In the Network Revenue Management (NRM) problem, products composed of up to L resources are sold to stochastically arriving customers. We take a randomized rounding approach to NRM, motivated by developments in Online Contention Resolution Schemes (OCRS). The goal is to take a fractional solution to NRM that satisfies the resource constraints in expectation, and implement it in an online policy that satisfies the resource constraints in any state, while (approximately) preserving all of the sales that were prescribed by the fractional solution. OCRS cannot be naively applied to NRM or revenue management problems in general, because customer substitution induces a negative correlation in products being demanded. We start by deriving an OCRS that achieves a guarantee of 1/(1+L) for NRM with customer substitution, matching a common benchmark in the literature. We then show how to beat this benchmark for all integers L>1 assuming no substitution, i.e., in the standard OCRS setting. By contrast, we show that this benchmark is unbeatable using OCRS or any fractional relaxation if there is customer substitution, for all integers L that are the power of a prime number. Finally, we show how to beat 1/(1+L) even with customer substitution, if the products comprise one item from each of up to L groups. Our results have corresponding implications for Online Combinatorial Auctions, in which buyers bid for bundles of up to L items, and buyers being single-minded is akin to no substitution. Our final result also beats 1/(1+L) for Prophet Inequality on the intersection of L partition matroids. All in all, our paper provides a unifying framework for applying OCRS to these problems, delineating the impact of substitution, and establishing a separation between the guarantees achievable with vs. without substitution under general resource constraints parametrized by L.

Contextualized embeddings are the preferred tool for modeling Lexical Semantic Change (LSC). Current evaluations typically focus on a specific task known as Graded Change Detection (GCD). However, performance comparison across work are often misleading due to their reliance on diverse settings. In this paper, we evaluate state-of-the-art models and approaches for GCD under equal conditions. We further break the LSC problem into Word-in-Context (WiC) and Word Sense Induction (WSI) tasks, and compare models across these different levels. Our evaluation is performed across different languages on eight available benchmarks for LSC, and shows that (i) APD outperforms other approaches for GCD; (ii) XL-LEXEME outperforms other contextualized models for WiC, WSI, and GCD, while being comparable to GPT-4; (iii) there is a clear need for improving the modeling of word meanings, as well as focus on how, when, and why these meanings change, rather than solely focusing on the extent of semantic change.

Agents in mixed-motive coordination problems such as Chicken may fail to coordinate on a Pareto-efficient outcome. Safe Pareto improvements (SPIs) were originally proposed to mitigate miscoordination in cases where players lack probabilistic beliefs as to how their delegates will play a game; delegates are instructed to behave so as to guarantee a Pareto improvement on how they would play by default. More generally, SPIs may be defined as transformations of strategy profiles such that all players are necessarily better off under the transformed profile. In this work, we investigate the extent to which SPIs can reduce downsides of miscoordination between expected utility-maximizing agents. We consider games in which players submit computer programs that can condition their decisions on each other's code, and use this property to construct SPIs using programs capable of renegotiation. We first show that under mild conditions on players' beliefs, each player always prefers to use renegotiation. Next, we show that under similar assumptions, each player always prefers to be willing to renegotiate at least to the point at which they receive the lowest payoff they can attain in any efficient outcome. Thus subjectively optimal play guarantees players at least these payoffs, without the need for coordination on specific Pareto improvements. Lastly, we prove that renegotiation does not guarantee players any improvements on this bound.

Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and unsafe to follow COLREGs in congested waters, where multiple ASVs are navigating in the presence of static obstacles and strong currents, due to the complex interactions. To address this problem, we propose a decentralized multi-ASV collision avoidance policy based on Distributional Reinforcement Learning, which considers the interactions among ASVs as well as with static obstacles and current flows. We evaluate the performance of the proposed Distributional RL based policy against a traditional RL-based policy and two classical methods, Artificial Potential Fields (APF) and Reciprocal Velocity Obstacles (RVO), in simulation experiments, which show that the proposed policy achieves superior performance in navigation safety, while requiring minimal travel time and energy. A variant of our framework that automatically adapts its risk sensitivity is also demonstrated to improve ASV safety in highly congested environments.

Multimodal Large Language Model (MLLM) recently has been a new rising research hotspot, which uses powerful Large Language Models (LLMs) as a brain to perform multimodal tasks. The surprising emergent capabilities of MLLM, such as writing stories based on images and OCR-free math reasoning, are rare in traditional methods, suggesting a potential path to artificial general intelligence. In this paper, we aim to trace and summarize the recent progress of MLLM. First of all, we present the formulation of MLLM and delineate its related concepts. Then, we discuss the key techniques and applications, including Multimodal Instruction Tuning (M-IT), Multimodal In-Context Learning (M-ICL), Multimodal Chain of Thought (M-CoT), and LLM-Aided Visual Reasoning (LAVR). Finally, we discuss existing challenges and point out promising research directions. In light of the fact that the era of MLLM has only just begun, we will keep updating this survey and hope it can inspire more research. An associated GitHub link collecting the latest papers is available at //github.com/BradyFU/Awesome-Multimodal-Large-Language-Models.

Large Language Models (LLMs) have emerged as powerful tools in the field of Natural Language Processing (NLP) and have recently gained significant attention in the domain of Recommendation Systems (RS). These models, trained on massive amounts of data using self-supervised learning, have demonstrated remarkable success in learning universal representations and have the potential to enhance various aspects of recommendation systems by some effective transfer techniques such as fine-tuning and prompt tuning, and so on. The crucial aspect of harnessing the power of language models in enhancing recommendation quality is the utilization of their high-quality representations of textual features and their extensive coverage of external knowledge to establish correlations between items and users. To provide a comprehensive understanding of the existing LLM-based recommendation systems, this survey presents a taxonomy that categorizes these models into two major paradigms, respectively Discriminative LLM for Recommendation (DLLM4Rec) and Generative LLM for Recommendation (GLLM4Rec), with the latter being systematically sorted out for the first time. Furthermore, we systematically review and analyze existing LLM-based recommendation systems within each paradigm, providing insights into their methodologies, techniques, and performance. Additionally, we identify key challenges and several valuable findings to provide researchers and practitioners with inspiration.

Bidirectional Encoder Representations from Transformers (BERT) has shown marvelous improvements across various NLP tasks. Recently, an upgraded version of BERT has been released with Whole Word Masking (WWM), which mitigate the drawbacks of masking partial WordPiece tokens in pre-training BERT. In this technical report, we adapt whole word masking in Chinese text, that masking the whole word instead of masking Chinese characters, which could bring another challenge in Masked Language Model (MLM) pre-training task. The model was trained on the latest Chinese Wikipedia dump. We aim to provide easy extensibility and better performance for Chinese BERT without changing any neural architecture or even hyper-parameters. The model is verified on various NLP tasks, across sentence-level to document-level, including sentiment classification (ChnSentiCorp, Sina Weibo), named entity recognition (People Daily, MSRA-NER), natural language inference (XNLI), sentence pair matching (LCQMC, BQ Corpus), and machine reading comprehension (CMRC 2018, DRCD, CAIL RC). Experimental results on these datasets show that the whole word masking could bring another significant gain. Moreover, we also examine the effectiveness of Chinese pre-trained models: BERT, ERNIE, BERT-wwm. We release the pre-trained model (both TensorFlow and PyTorch) on GitHub: //github.com/ymcui/Chinese-BERT-wwm

We propose a novel single shot object detection network named Detection with Enriched Semantics (DES). Our motivation is to enrich the semantics of object detection features within a typical deep detector, by a semantic segmentation branch and a global activation module. The segmentation branch is supervised by weak segmentation ground-truth, i.e., no extra annotation is required. In conjunction with that, we employ a global activation module which learns relationship between channels and object classes in a self-supervised manner. Comprehensive experimental results on both PASCAL VOC and MS COCO detection datasets demonstrate the effectiveness of the proposed method. In particular, with a VGG16 based DES, we achieve an mAP of 81.7 on VOC2007 test and an mAP of 32.8 on COCO test-dev with an inference speed of 31.5 milliseconds per image on a Titan Xp GPU. With a lower resolution version, we achieve an mAP of 79.7 on VOC2007 with an inference speed of 13.0 milliseconds per image.

Visual Question Answering (VQA) models have struggled with counting objects in natural images so far. We identify a fundamental problem due to soft attention in these models as a cause. To circumvent this problem, we propose a neural network component that allows robust counting from object proposals. Experiments on a toy task show the effectiveness of this component and we obtain state-of-the-art accuracy on the number category of the VQA v2 dataset without negatively affecting other categories, even outperforming ensemble models with our single model. On a difficult balanced pair metric, the component gives a substantial improvement in counting over a strong baseline by 6.6%.