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Performing language-conditioned robotic manipulation tasks in unstructured environments is highly demanded for general intelligent robots. Conventional robotic manipulation methods usually learn semantic representation of the observation for action prediction, which ignores the scene-level spatiotemporal dynamics for human goal completion. In this paper, we propose a dynamic Gaussian Splatting method named ManiGaussian for multi-task robotic manipulation, which mines scene dynamics via future scene reconstruction. Specifically, we first formulate the dynamic Gaussian Splatting framework that infers the semantics propagation in the Gaussian embedding space, where the semantic representation is leveraged to predict the optimal robot action. Then, we build a Gaussian world model to parameterize the distribution in our dynamic Gaussian Splatting framework, which provides informative supervision in the interactive environment via future scene reconstruction. We evaluate our ManiGaussian on 10 RLBench tasks with 166 variations, and the results demonstrate our framework can outperform the state-of-the-art methods by 13.1\% in average success rate.

The aim of dynamic prediction is to provide individualized risk predictions over time, which are updated as new data become available. In pursuit of constructing a dynamic prediction model for a progressive eye disorder, age-related macular degeneration (AMD), we propose a time-dependent Cox survival neural network (tdCoxSNN) to predict its progression using longitudinal fundus images. tdCoxSNN builds upon the time-dependent Cox model by utilizing a neural network to capture the non-linear effect of time-dependent covariates on the survival outcome. Moreover, by concurrently integrating a convolutional neural network (CNN) with the survival network, tdCoxSNN can directly take longitudinal images as input. We evaluate and compare our proposed method with joint modeling and landmarking approaches through extensive simulations. We applied the proposed approach to two real datasets. One is a large AMD study, the Age-Related Eye Disease Study (AREDS), in which more than 50,000 fundus images were captured over a period of 12 years for more than 4,000 participants. Another is a public dataset of the primary biliary cirrhosis (PBC) disease, where multiple lab tests were longitudinally collected to predict the time-to-liver transplant. Our approach demonstrates commendable predictive performance in both simulation studies and the analysis of the two real datasets.

Having good knowledge of terrain information is essential for improving the performance of various downstream tasks on complex terrains, especially for the locomotion and navigation of legged robots. We present a novel framework for neural urban terrain reconstruction with uncertainty estimations. It generates dense robot-centric elevation maps online from sparse LiDAR observations. We design a novel pre-processing and point features representation approach that ensures high robustness and computational efficiency when integrating multiple point cloud frames. A Bayesian-GAN model then recovers the detailed terrain structures while simultaneously providing the pixel-wise reconstruction uncertainty. We evaluate the proposed pipeline through extensive simulation and real-world experiments. It demonstrates efficient terrain reconstruction with high quality and real-time performance on a mobile platform, which further benefits the downstream tasks of legged robots. (See //kin-zhang.github.io/ndem/ for more details.)

Multiple extended target tracking (ETT) has gained increasing attention due to the development of high-precision LiDAR and radar sensors in automotive applications. For LiDAR point cloud-based vehicle tracking, this paper presents a probabilistic measurement-region association (PMRA) ETT model, which can describe the complex measurement distribution by partitioning the target extent into different regions. The PMRA model overcomes the drawbacks of previous data-region association (DRA) models by eliminating the approximation error of constrained estimation and using continuous integrals to more reliably calculate the association probabilities. Furthermore, the PMRA model is integrated with the Poisson multi-Bernoulli mixture (PMBM) filter for tracking multiple vehicles. Simulation results illustrate the superior estimation accuracy of the proposed PMRA-PMBM filter in terms of both positions and extents of the vehicles comparing with PMBM filters using the gamma Gaussian inverse Wishart and DRA implementations.

In recent years, semantic communication is progressively emerging as an effective means of facilitating intelligent and context-aware communication. However, current researches seldom simultaneously consider the reliability and timeliness of semantic communication, where scheduling and resource allocation (SRA) plays a crucial role. In contrast, conventional age-based approaches cannot seamlessly extend to semantic communication due to their oversight of semantic importance. To bridge this gap, we introduce a novel metric: Age of Semantic Importance (AoSI), which adaptly captures both the freshness of information and its semantic importance. Utilizing AoSI, we formulate an average AoSI minimization problem by optimizing multi-source SRA. To address this problem, we proposed a AoSI-aware joint SRA algorithm based on Deep Q-Network (DQN). Simulation results validate the effectiveness of our proposed method, demonstrating its ability to facilitate timely and reliable semantic communication.

Human intelligence thrives on the concept of cognitive synergy, where collaboration and information integration among different cognitive processes yield superior outcomes compared to individual cognitive processes in isolation. Although Large Language Models (LLMs) have demonstrated promising performance as general task-solving agents, they still struggle with tasks that require intensive domain knowledge and complex reasoning. In this work, we propose Solo Performance Prompting (SPP), which transforms a single LLM into a cognitive synergist by engaging in multi-turn self-collaboration with multiple personas. A cognitive synergist refers to an intelligent agent that collaborates with multiple minds, combining their individual strengths and knowledge, to enhance problem-solving and overall performance in complex tasks. By dynamically identifying and simulating different personas based on task inputs, SPP unleashes the potential of cognitive synergy in LLMs. We have discovered that assigning multiple, fine-grained personas in LLMs elicits better problem-solving abilities compared to using a single or fixed number of personas. We evaluate SPP on three challenging tasks: Trivia Creative Writing, Codenames Collaborative, and Logic Grid Puzzle, encompassing both knowledge-intensive and reasoning-intensive types. Unlike previous works, such as Chain-of-Thought, that solely enhance the reasoning abilities in LLMs, SPP effectively elicits internal knowledge acquisition abilities, reduces hallucination, and maintains strong reasoning capabilities. Code, data, and prompts can be found at: //github.com/MikeWangWZHL/Solo-Performance-Prompting.git.

Unsupervised person re-identification (Re-ID) attracts increasing attention due to its potential to resolve the scalability problem of supervised Re-ID models. Most existing unsupervised methods adopt an iterative clustering mechanism, where the network was trained based on pseudo labels generated by unsupervised clustering. However, clustering errors are inevitable. To generate high-quality pseudo-labels and mitigate the impact of clustering errors, we propose a novel clustering relationship modeling framework for unsupervised person Re-ID. Specifically, before clustering, the relation between unlabeled images is explored based on a graph correlation learning (GCL) module and the refined features are then used for clustering to generate high-quality pseudo-labels.Thus, GCL adaptively mines the relationship between samples in a mini-batch to reduce the impact of abnormal clustering when training. To train the network more effectively, we further propose a selective contrastive learning (SCL) method with a selective memory bank update policy. Extensive experiments demonstrate that our method shows much better results than most state-of-the-art unsupervised methods on Market1501, DukeMTMC-reID and MSMT17 datasets. We will release the code for model reproduction.

Defensive deception is a promising approach for cyberdefense. Although defensive deception is increasingly popular in the research community, there has not been a systematic investigation of its key components, the underlying principles, and its tradeoffs in various problem settings. This survey paper focuses on defensive deception research centered on game theory and machine learning, since these are prominent families of artificial intelligence approaches that are widely employed in defensive deception. This paper brings forth insights, lessons, and limitations from prior work. It closes with an outline of some research directions to tackle major gaps in current defensive deception research.

Most existing knowledge graphs suffer from incompleteness, which can be alleviated by inferring missing links based on known facts. One popular way to accomplish this is to generate low-dimensional embeddings of entities and relations, and use these to make inferences. ConvE, a recently proposed approach, applies convolutional filters on 2D reshapings of entity and relation embeddings in order to capture rich interactions between their components. However, the number of interactions that ConvE can capture is limited. In this paper, we analyze how increasing the number of these interactions affects link prediction performance, and utilize our observations to propose InteractE. InteractE is based on three key ideas -- feature permutation, a novel feature reshaping, and circular convolution. Through extensive experiments, we find that InteractE outperforms state-of-the-art convolutional link prediction baselines on FB15k-237. Further, InteractE achieves an MRR score that is 9%, 7.5%, and 23% better than ConvE on the FB15k-237, WN18RR and YAGO3-10 datasets respectively. The results validate our central hypothesis -- that increasing feature interaction is beneficial to link prediction performance. We make the source code of InteractE available to encourage reproducible research.

Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis, thereby allowing manual manipulation in predicting the final answer.