亚洲男人的天堂2018av,欧美草比,久久久久久免费视频精选,国色天香在线看免费,久久久久亚洲av成人片仓井空

We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the humans adjust their strategies during online task execution. Our method co-optimizes a human policy and a robot policy in an interactive learning process: the human policy learns to generate diverse and plausible collaborative behaviors from demonstrations while the robot policy learns to assist by estimating the unobserved latent strategy of its human collaborator. Across a 2D strategy game, a human-robot handover task, and a multi-step collaborative manipulation task, our method outperforms the alternatives in both simulated evaluations and when executing the tasks with a real human operator in-the-loop. Supplementary materials and videos at //sites.google.com/view/co-gail-web/home

Despite their competitive performance on knowledge-intensive tasks, large language models (LLMs) still have limitations in memorizing all world knowledge especially long tail knowledge. In this paper, we study the KG-augmented language model approach for solving the knowledge graph question answering (KGQA) task that requires rich world knowledge. Existing work has shown that retrieving KG knowledge to enhance LLMs prompting can significantly improve LLMs performance in KGQA. However, their approaches lack a well-formed verbalization of KG knowledge, i.e., they ignore the gap between KG representations and textual representations. To this end, we propose an answer-sensitive KG-to-Text approach that can transform KG knowledge into well-textualized statements most informative for KGQA. Based on this approach, we propose a KG-to-Text enhanced LLMs framework for solving the KGQA task. Experiments on several KGQA benchmarks show that the proposed KG-to-Text augmented LLMs approach outperforms previous KG-augmented LLMs approaches regarding answer accuracy and usefulness of knowledge statements.

Network models are an essential block of modern networks. For example, they are widely used in network planning and optimization. However, as networks increase in scale and complexity, some models present limitations, such as the assumption of Markovian traffic in queuing theory models, or the high computational cost of network simulators. Recent advances in machine learning, such as Graph Neural Networks (GNN), are enabling a new generation of network models that are data-driven and can learn complex non-linear behaviors. In this paper, we present RouteNet-Fermi, a custom GNN model that shares the same goals as Queuing Theory, while being considerably more accurate in the presence of realistic traffic models. The proposed model predicts accurately the delay, jitter, and packet loss of a network. We have tested RouteNet-Fermi in networks of increasing size (up to 300 nodes), including samples with mixed traffic profiles -- e.g., with complex non-Markovian models -- and arbitrary routing and queue scheduling configurations. Our experimental results show that RouteNet-Fermi achieves similar accuracy as computationally-expensive packet-level simulators and scales accurately to larger networks. Our model produces delay estimates with a mean relative error of 6.24% when applied to a test dataset of 1,000 samples, including network topologies one order of magnitude larger than those seen during training. Finally, we have also evaluated RouteNet-Fermi with measurements from a physical testbed and packet traces from a real-life network.

Effective patient monitoring is vital for timely interventions and improved healthcare outcomes. Traditional monitoring systems often struggle to handle complex, dynamic environments with fluctuating vital signs, leading to delays in identifying critical conditions. To address this challenge, we propose a novel AI-driven patient monitoring framework using multi-agent deep reinforcement learning (DRL). Our approach deploys multiple learning agents, each dedicated to monitoring a specific physiological feature, such as heart rate, respiration, and temperature. These agents interact with a generic healthcare monitoring environment, learn the patients' behavior patterns, and make informed decisions to alert the corresponding Medical Emergency Teams (METs) based on the level of emergency estimated. In this study, we evaluate the performance of the proposed multi-agent DRL framework using real-world physiological and motion data from two datasets: PPG-DaLiA and WESAD. We compare the results with several baseline models, including Q-Learning, PPO, Actor-Critic, Double DQN, and DDPG, as well as monitoring frameworks like WISEML and CA-MAQL. Our experiments demonstrate that the proposed DRL approach outperforms all other baseline models, achieving more accurate monitoring of patient's vital signs. Furthermore, we conduct hyperparameter optimization to fine-tune the learning process of each agent. By optimizing hyperparameters, we enhance the learning rate and discount factor, thereby improving the agents' overall performance in monitoring patient health status. Our AI-driven patient monitoring system offers several advantages over traditional methods, including the ability to handle complex and uncertain environments, adapt to varying patient conditions, and make real-time decisions without external supervision.

Image denoising is a fundamental and challenging task in the field of computer vision. Most supervised denoising methods learn to reconstruct clean images from noisy inputs, which have intrinsic spectral bias and tend to produce over-smoothed and blurry images. Recently, researchers have explored diffusion models to generate high-frequency details in image restoration tasks, but these models do not guarantee that the generated texture aligns with real images, leading to undesirable artifacts. To address the trade-off between visual appeal and fidelity of high-frequency details in denoising tasks, we propose a novel approach called the Reconstruct-and-Generate Diffusion Model (RnG). Our method leverages a reconstructive denoising network to recover the majority of the underlying clean signal, which serves as the initial estimation for subsequent steps to maintain fidelity. Additionally, it employs a diffusion algorithm to generate residual high-frequency details, thereby enhancing visual quality. We further introduce a two-stage training scheme to ensure effective collaboration between the reconstructive and generative modules of RnG. To reduce undesirable texture introduced by the diffusion model, we also propose an adaptive step controller that regulates the number of inverse steps applied by the diffusion model, allowing control over the level of high-frequency details added to each patch as well as saving the inference computational cost. Through our proposed RnG, we achieve a better balance between perception and distortion. We conducted extensive experiments on both synthetic and real denoising datasets, validating the superiority of the proposed approach.

Occlusion is a major challenge for LiDAR-based object detection methods. This challenge becomes safety-critical in urban traffic where the ego vehicle must have reliable object detection to avoid collision while its field of view is severely reduced due to the obstruction posed by a large number of road users. Collaborative perception via Vehicle-to-Everything (V2X) communication, which leverages the diverse perspective thanks to the presence at multiple locations of connected agents to form a complete scene representation, is an appealing solution. State-of-the-art V2X methods resolve the performance-bandwidth tradeoff using a mid-collaboration approach where the Bird-Eye View images of point clouds are exchanged so that the bandwidth consumption is lower than communicating point clouds as in early collaboration, and the detection performance is higher than late collaboration, which fuses agents' output, thanks to a deeper interaction among connected agents. While achieving strong performance, the real-world deployment of most mid-collaboration approaches is hindered by their overly complicated architectures, involving learnable collaboration graphs and autoencoder-based compressor/ decompressor, and unrealistic assumptions about inter-agent synchronization. In this work, we devise a simple yet effective collaboration method that achieves a better bandwidth-performance tradeoff than prior state-of-the-art methods while minimizing changes made to the single-vehicle detection models and relaxing unrealistic assumptions on inter-agent synchronization. Experiments on the V2X-Sim dataset show that our collaboration method achieves 98\% of the performance of an early-collaboration method, while only consuming the equivalent bandwidth of a late-collaboration method.

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.

Traffic forecasting is an important factor for the success of intelligent transportation systems. Deep learning models including convolution neural networks and recurrent neural networks have been applied in traffic forecasting problems to model the spatial and temporal dependencies. In recent years, to model the graph structures in the transportation systems as well as the contextual information, graph neural networks (GNNs) are introduced as new tools and have achieved the state-of-the-art performance in a series of traffic forecasting problems. In this survey, we review the rapidly growing body of recent research using different GNNs, e.g., graph convolutional and graph attention networks, in various traffic forecasting problems, e.g., road traffic flow and speed forecasting, passenger flow forecasting in urban rail transit systems, demand forecasting in ride-hailing platforms, etc. We also present a collection of open data and source resources for each problem, as well as future research directions. To the best of our knowledge, this paper is the first comprehensive survey that explores the application of graph neural networks for traffic forecasting problems. We have also created a public Github repository to update the latest papers, open data and source resources.

Generative commonsense reasoning which aims to empower machines to generate sentences with the capacity of reasoning over a set of concepts is a critical bottleneck for text generation. Even the state-of-the-art pre-trained language generation models struggle at this task and often produce implausible and anomalous sentences. One reason is that they rarely consider incorporating the knowledge graph which can provide rich relational information among the commonsense concepts. To promote the ability of commonsense reasoning for text generation, we propose a novel knowledge graph augmented pre-trained language generation model KG-BART, which encompasses the complex relations of concepts through the knowledge graph and produces more logical and natural sentences as output. Moreover, KG-BART can leverage the graph attention to aggregate the rich concept semantics that enhances the model generalization on unseen concept sets. Experiments on benchmark CommonGen dataset verify the effectiveness of our proposed approach by comparing with several strong pre-trained language generation models, particularly KG-BART outperforms BART by 5.80, 4.60, in terms of BLEU-3, 4. Moreover, we also show that the generated context by our model can work as background scenarios to benefit downstream commonsense QA tasks.

Knowledge graphs are important resources for many artificial intelligence tasks but often suffer from incompleteness. In this work, we propose to use pre-trained language models for knowledge graph completion. We treat triples in knowledge graphs as textual sequences and propose a novel framework named Knowledge Graph Bidirectional Encoder Representations from Transformer (KG-BERT) to model these triples. Our method takes entity and relation descriptions of a triple as input and computes scoring function of the triple with the KG-BERT language model. Experimental results on multiple benchmark knowledge graphs show that our method can achieve state-of-the-art performance in triple classification, link prediction and relation prediction tasks.