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Building a generalist agent that can interact with the world is the intriguing target of AI systems, thus spurring the research for embodied navigation, where an agent is required to navigate according to instructions or respond to queries. Despite the major progress attained, previous works primarily focus on task-specific agents and lack generalizability to unseen scenarios. Recently, LLMs have presented remarkable capabilities across various fields, and provided a promising opportunity for embodied navigation. Drawing on this, we propose the first generalist model for embodied navigation, NaviLLM. It adapts LLMs to embodied navigation by introducing schema-based instruction. The schema-based instruction flexibly casts various tasks into generation problems, thereby unifying a wide range of tasks. This approach allows us to integrate diverse data sources from various datasets into the training, equipping NaviLLM with a wide range of capabilities required by embodied navigation. We conduct extensive experiments to evaluate the performance and generalizability of our model. The experimental results demonstrate that our unified model achieves state-of-the-art performance on CVDN, SOON, and ScanQA. Specifically, it surpasses the previous stats-of-the-art method by a significant margin of 29% in goal progress on CVDN. Moreover, our model also demonstrates strong generalizability and presents impressive results on unseen tasks, e.g., embodied question answering and 3D captioning.

Semantic communication, recognized as a promising technology for future intelligent applications, has received widespread research attention. Despite the potential of semantic communication to enhance transmission reliability, especially in low signal-to-noise (SNR) environments, the critical issue of resource allocation and compatibility in the dynamic wireless environment remains largely unexplored. In this paper, we propose an adaptive semantic resource allocation paradigm with semantic-bit quantization (SBQ) compatibly for existing wireless communications, where the inaccurate environment perception introduced by the additional mapping relationship between semantic metrics and transmission metrics is solved. In order to investigate the performance of semantic communication networks, the quality of service for semantic communication (SC-QoS), including the semantic quantization efficiency (SQE) and transmission latency, is proposed for the first time. A problem of maximizing the overall effective SC-QoS is formulated by jointly optimizing the transmit beamforming of the base station, the bits for semantic representation, the subchannel assignment, and the bandwidth resource allocation. To address the non-convex formulated problem, an intelligent resource allocation scheme is proposed based on a hybrid deep reinforcement learning (DRL) algorithm, where the intelligent agent can perceive both semantic tasks and dynamic wireless environments. Simulation results demonstrate that our design can effectively combat semantic noise and achieve superior performance in wireless communications compared to several benchmark schemes. Furthermore, compared to mapping-guided paradigm based resource allocation schemes, our proposed adaptive scheme can achieve up to 13% performance improvement in terms of SC-QoS.

Conversational agents leveraging AI, particularly deep learning, are emerging in both academic research and real-world applications. However, these applications still face challenges, including disrespecting knowledge and facts, not personalizing to user preferences, and enormous demand for computational resources during training and inference. Recent research efforts have been focused on addressing these challenges from various aspects, including supplementing various types of auxiliary information to the conversational agents. However, existing methods are still not able to effectively and efficiently exploit relevant information from these auxiliary supplements to further unleash the power of the conversational agents and the language models they use. In this paper, we present a novel method, PK-NCLI, that is able to accurately and efficiently identify relevant auxiliary information to improve the quality of conversational responses by learning the relevance among persona, chat history, and knowledge background through low-level normalized contextual latent interaction. Our experimental results indicate that PK-NCLI outperforms the state-of-the-art method, PK-FoCus, by 47.80%/30.61%/24.14% in terms of perplexity, knowledge grounding, and training efficiency, respectively, and maintained the same level of persona grounding performance. We also provide a detailed analysis of how different factors, including language model choices and trade-offs on training weights, would affect the performance of PK-NCLI.

Spectrum sensing technology is a crucial aspect of modern communication technology, serving as one of the essential techniques for efficiently utilizing scarce information resources in tight frequency bands. This paper first introduces three common logical circuit decision criteria in hard decisions and analyzes their decision rigor. Building upon hard decisions, the paper further introduces a method for multi-user spectrum sensing based on soft decisions. Then the paper simulates the false alarm probability and detection probability curves corresponding to the three criteria. The simulated results of multi-user collaborative sensing indicate that the simulation process significantly reduces false alarm probability and enhances detection probability. This approach effectively detects spectrum resources unoccupied during idle periods, leveraging the concept of time-division multiplexing and rationalizing the redistribution of information resources. The entire computation process relies on the calculation principles of power spectral density in communication theory, involving threshold decision detection for noise power and the sum of noise and signal power. It provides a secondary decision detection, reflecting the perceptual decision performance of logical detection methods with relative accuracy.

To ensure the usefulness of Reinforcement Learning (RL) in real systems, it is crucial to ensure they are robust to noise and adversarial attacks. In adversarial RL, an external attacker has the power to manipulate the victim agent's interaction with the environment. We study the full class of online manipulation attacks, which include (i) state attacks, (ii) observation attacks (which are a generalization of perceived-state attacks), (iii) action attacks, and (iv) reward attacks. We show the attacker's problem of designing a stealthy attack that maximizes its own expected reward, which often corresponds to minimizing the victim's value, is captured by a Markov Decision Process (MDP) that we call a meta-MDP since it is not the true environment but a higher level environment induced by the attacked interaction. We show that the attacker can derive optimal attacks by planning in polynomial time or learning with polynomial sample complexity using standard RL techniques. We argue that the optimal defense policy for the victim can be computed as the solution to a stochastic Stackelberg game, which can be further simplified into a partially-observable turn-based stochastic game (POTBSG). Neither the attacker nor the victim would benefit from deviating from their respective optimal policies, thus such solutions are truly robust. Although the defense problem is NP-hard, we show that optimal Markovian defenses can be computed (learned) in polynomial time (sample complexity) in many scenarios.

With the proliferation of edge computing, efficient AI inference on edge devices has become essential for intelligent applications such as autonomous vehicles and VR/AR. In this context, we address the problem of efficient remote object recognition by optimizing feature transmission between mobile devices and edge servers. We propose an online optimization framework to address the challenge of dynamic channel conditions and device mobility in an end-to-end communication system. Our approach builds upon existing methods by leveraging a semantic knowledge base to drive multi-level feature transmission, accounting for temporal factors and dynamic elements throughout the transmission process. To solve the online optimization problem, we design a novel soft actor-critic-based deep reinforcement learning system with a carefully designed reward function for real-time decision-making, overcoming the optimization difficulty of the NP-hard problem and achieving the minimization of semantic loss while respecting latency constraints. Numerical results showcase the superiority of our approach compared to traditional greedy methods under various system setups.

As artificial intelligence (AI) is integrated into various services and systems in society, many companies and organizations have proposed AI principles, policies, and made the related commitments. Conversely, some have proposed the need for independent audits, arguing that the voluntary principles adopted by the developers and providers of AI services and systems insufficiently address risk. This policy recommendation summarizes the issues related to the auditing of AI services and systems and presents three recommendations for promoting AI auditing that contribute to sound AI governance. Recommendation1.Development of institutional design for AI audits. Recommendation2.Training human resources for AI audits. Recommendation3. Updating AI audits in accordance with technological progress. In this policy recommendation, AI is assumed to be that which recognizes and predicts data with the last chapter outlining how generative AI should be audited.

With the rise of powerful pre-trained vision-language models like CLIP, it becomes essential to investigate ways to adapt these models to downstream datasets. A recently proposed method named Context Optimization (CoOp) introduces the concept of prompt learning -- a recent trend in NLP -- to the vision domain for adapting pre-trained vision-language models. Specifically, CoOp turns context words in a prompt into a set of learnable vectors and, with only a few labeled images for learning, can achieve huge improvements over intensively-tuned manual prompts. In our study we identify a critical problem of CoOp: the learned context is not generalizable to wider unseen classes within the same dataset, suggesting that CoOp overfits base classes observed during training. To address the problem, we propose Conditional Context Optimization (CoCoOp), which extends CoOp by further learning a lightweight neural network to generate for each image an input-conditional token (vector). Compared to CoOp's static prompts, our dynamic prompts adapt to each instance and are thus less sensitive to class shift. Extensive experiments show that CoCoOp generalizes much better than CoOp to unseen classes, even showing promising transferability beyond a single dataset; and yields stronger domain generalization performance as well. Code is available at //github.com/KaiyangZhou/CoOp.

Relation prediction for knowledge graphs aims at predicting missing relationships between entities. Despite the importance of inductive relation prediction, most previous works are limited to a transductive setting and cannot process previously unseen entities. The recent proposed subgraph-based relation reasoning models provided alternatives to predict links from the subgraph structure surrounding a candidate triplet inductively. However, we observe that these methods often neglect the directed nature of the extracted subgraph and weaken the role of relation information in the subgraph modeling. As a result, they fail to effectively handle the asymmetric/anti-symmetric triplets and produce insufficient embeddings for the target triplets. To this end, we introduce a \textbf{C}\textbf{o}mmunicative \textbf{M}essage \textbf{P}assing neural network for \textbf{I}nductive re\textbf{L}ation r\textbf{E}asoning, \textbf{CoMPILE}, that reasons over local directed subgraph structures and has a vigorous inductive bias to process entity-independent semantic relations. In contrast to existing models, CoMPILE strengthens the message interactions between edges and entitles through a communicative kernel and enables a sufficient flow of relation information. Moreover, we demonstrate that CoMPILE can naturally handle asymmetric/anti-symmetric relations without the need for explosively increasing the number of model parameters by extracting the directed enclosing subgraphs. Extensive experiments show substantial performance gains in comparison to state-of-the-art methods on commonly used benchmark datasets with variant inductive settings.

There has been appreciable progress in unsupervised network representation learning (UNRL) approaches over graphs recently with flexible random-walk approaches, new optimization objectives and deep architectures. However, there is no common ground for systematic comparison of embeddings to understand their behavior for different graphs and tasks. In this paper we theoretically group different approaches under a unifying framework and empirically investigate the effectiveness of different network representation methods. In particular, we argue that most of the UNRL approaches either explicitly or implicit model and exploit context information of a node. Consequently, we propose a framework that casts a variety of approaches -- random walk based, matrix factorization and deep learning based -- into a unified context-based optimization function. We systematically group the methods based on their similarities and differences. We study the differences among these methods in detail which we later use to explain their performance differences (on downstream tasks). We conduct a large-scale empirical study considering 9 popular and recent UNRL techniques and 11 real-world datasets with varying structural properties and two common tasks -- node classification and link prediction. We find that there is no single method that is a clear winner and that the choice of a suitable method is dictated by certain properties of the embedding methods, task and structural properties of the underlying graph. In addition we also report the common pitfalls in evaluation of UNRL methods and come up with suggestions for experimental design and interpretation of results.