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This paper presents a novel approach to address the challenging problem of autonomous on-ramp merging, where a self-driving vehicle needs to seamlessly integrate into a flow of vehicles on a multi-lane highway. We introduce the Lane-keeping, Lane-changing with Latent-state Inference and Safety Controller (L3IS) agent, designed to perform the on-ramp merging task safely without comprehensive knowledge about surrounding vehicles' intents or driving styles. We also present an augmentation of this agent called AL3IS that accounts for observation delays, allowing the agent to make more robust decisions in real-world environments with vehicle-to-vehicle (V2V) communication delays. By modeling the unobservable aspects of the environment through latent states, such as other drivers' intents, our approach enhances the agent's ability to adapt to dynamic traffic conditions, optimize merging maneuvers, and ensure safe interactions with other vehicles. We demonstrate the effectiveness of our method through extensive simulations generated from real traffic data and compare its performance with existing approaches. L3IS shows a 99.90% success rate in a challenging on-ramp merging case generated from the real US Highway 101 data. We further perform a sensitivity analysis on AL3IS to evaluate its robustness against varying observation delays, which demonstrates an acceptable performance of 93.84% success rate in 1-second V2V communication delay.

In the wake of the post-pandemic era, marked by social isolation and surging rates of depression and anxiety, conversational agents based on digital psychotherapy can play an influential role compared to traditional therapy sessions. In this work, we develop a voice-capable chatbot in Farsi to guide users through Self-Attachment (SAT), a novel, self-administered, holistic psychological technique based on attachment theory. Our chatbot uses a dynamic array of rule-based and classification-based modules to comprehend user input throughout the conversation and navigates a dialogue flowchart accordingly, recommending appropriate SAT exercises that depend on the user's emotional and mental state. In particular, we collect a dataset of over 6,000 utterances and develop a novel sentiment-analysis module that classifies user sentiment into 12 classes, with accuracy above 92%. To keep the conversation novel and engaging, the chatbot's responses are retrieved from a large dataset of utterances created with the aid of Farsi GPT-2 and a reinforcement learning approach, thus requiring minimal human annotation. Our chatbot also offers a question-answering module, called SAT Teacher, to answer users' questions about the principles of Self-Attachment. Finally, we design a cross-platform application as the bot's user interface. We evaluate our platform in a ten-day human study with N=52 volunteers from the non-clinical population, who have had over 2,000 dialogues in total with the chatbot. The results indicate that the platform was engaging to most users (75%), 72% felt better after the interactions, and 74% were satisfied with the SAT Teacher's performance.

Previous stance detection studies typically concentrate on evaluating stances within individual instances, thereby exhibiting limitations in effectively modeling multi-party discussions concerning the same specific topic, as naturally transpire in authentic social media interactions. This constraint arises primarily due to the scarcity of datasets that authentically replicate real social media contexts, hindering the research progress of conversational stance detection. In this paper, we introduce a new multi-turn conversation stance detection dataset (called \textbf{MT-CSD}), which encompasses multiple targets for conversational stance detection. To derive stances from this challenging dataset, we propose a global-local attention network (\textbf{GLAN}) to address both long and short-range dependencies inherent in conversational data. Notably, even state-of-the-art stance detection methods, exemplified by GLAN, exhibit an accuracy of only 50.47\%, highlighting the persistent challenges in conversational stance detection. Furthermore, our MT-CSD dataset serves as a valuable resource to catalyze advancements in cross-domain stance detection, where a classifier is adapted from a different yet related target. We believe that MT-CSD will contribute to advancing real-world applications of stance detection research. Our source code, data, and models are available at \url{//github.com/nfq729/MT-CSD}.

This paper presents a comprehensive examination of the impact of tokenization strategies and vocabulary sizes on the performance of Arabic language models in downstream natural language processing tasks. Our investigation focused on the effectiveness of four tokenizers across various tasks, including News Classification, Hate Speech Detection, Sentiment Analysis, and Natural Language Inference. Leveraging a diverse set of vocabulary sizes, we scrutinize the intricate interplay between tokenization approaches and model performance. The results reveal that Byte Pair Encoding (BPE) with Farasa outperforms other strategies in multiple tasks, underscoring the significance of morphological analysis in capturing the nuances of the Arabic language. However, challenges arise in sentiment analysis, where dialect specific segmentation issues impact model efficiency. Computational efficiency analysis demonstrates the stability of BPE with Farasa, suggesting its practical viability. Our study uncovers limited impacts of vocabulary size on model performance while keeping the model size unchanged. This is challenging the established beliefs about the relationship between vocabulary, model size, and downstream tasks, emphasizing the need for the study of models' size and their corresponding vocabulary size to generalize across domains and mitigate biases, particularly in dialect based datasets. Paper's recommendations include refining tokenization strategies to address dialect challenges, enhancing model robustness across diverse linguistic contexts, and expanding datasets to encompass the rich dialect based Arabic. This work not only advances our understanding of Arabic language models but also lays the foundation for responsible and ethical developments in natural language processing technologies tailored to the intricacies of the Arabic language.

This paper introduces a first-order method for solving optimal powered descent guidance (PDG) problems, that directly handles the nonconvex constraints associated with the maximum and minimum thrust bounds with varying mass and the pointing angle constraints on thrust vectors. This issue has been conventionally circumvented via lossless convexification (LCvx), which lifts a nonconvex feasible set to a higher-dimensional convex set, and via linear approximation of another nonconvex feasible set defined by exponential functions. However, this approach sometimes results in an infeasible solution when the solution obtained from the higher-dimensional space is projected back to the original space, especially when the problem involves a nonoptimal time of flight. Additionally, the Taylor series approximation introduces an approximation error that grows with both flight time and deviation from the reference trajectory. In this paper, we introduce a first-order approach that makes use of orthogonal projections onto nonconvex sets, allowing expansive projection (ExProj). We show that 1) this approach produces a feasible solution with better performance even for the nonoptimal time of flight cases for which conventional techniques fail to generate achievable trajectories and 2) the proposed method compensates for the linearization error that arises from Taylor series approximation, thus generating a superior guidance solution with less fuel consumption. We provide numerical examples featuring quantitative assessments to elucidate the effectiveness of the proposed methodology, particularly in terms of fuel consumption and flight time. Our analysis substantiates the assertion that the proposed approach affords enhanced flexibility in devising viable trajectories for a diverse array of planetary soft landing scenarios.

Surrogate-assisted evolutionary algorithms have been widely developed to solve complex and computationally expensive multi-objective optimization problems in recent years. However, when dealing with high-dimensional optimization problems, the performance of these surrogate-assisted multi-objective evolutionary algorithms deteriorate drastically. In this work, a novel Classifier-assisted rank-based learning and Local Model based multi-objective Evolutionary Algorithm (CLMEA) is proposed for high-dimensional expensive multi-objective optimization problems. The proposed algorithm consists of three parts: classifier-assisted rank-based learning, hypervolume-based non-dominated search, and local search in the relatively sparse objective space. Specifically, a probabilistic neural network is built as classifier to divide the offspring into a number of ranks. The offspring in different ranks uses rank-based learning strategy to generate more promising and informative candidates for real function evaluations. Then, radial basis function networks are built as surrogates to approximate the objective functions. After searching non-dominated solutions assisted by the surrogate model, the candidates with higher hypervolume improvement are selected for real evaluations. Subsequently, in order to maintain the diversity of solutions, the most uncertain sample point from the non-dominated solutions measured by the crowding distance is selected as the guided parent to further infill in the uncertain region of the front. The experimental results of benchmark problems and a real-world application on geothermal reservoir heat extraction optimization demonstrate that the proposed algorithm shows superior performance compared with the state-of-the-art surrogate-assisted multi-objective evolutionary algorithms. The source code for this work is available at //github.com/JellyChen7/CLMEA.

This paper presents an ecosystem for personal knowledge graphs (PKGs), commonly defined as resources of structured information about entities related to an individual, their attributes, and the relations between them. PKGs are a key enabler of secure and sophisticated personal data management and personalized services. However, there are challenges that need to be addressed before PKGs can achieve widespread adoption. One of the fundamental challenges is the very definition of what constitutes a PKG, as there are multiple interpretations of the term. We propose our own definition of a PKG, emphasizing the aspects of (1) data ownership by a single individual and (2) the delivery of personalized services as the primary purpose. We further argue that a holistic view of PKGs is needed to unlock their full potential, and propose a unified framework for PKGs, where the PKG is a part of a larger ecosystem with clear interfaces towards data services and data sources. A comprehensive survey and synthesis of existing work is conducted, with a mapping of the surveyed work into the proposed unified ecosystem. Finally, we identify open challenges and research opportunities for the ecosystem as a whole, as well as for the specific aspects of PKGs, which include population, representation and management, and utilization.

With the continuous growth in the number of parameters of transformer-based pretrained language models (PLMs), particularly the emergence of large language models (LLMs) with billions of parameters, many natural language processing (NLP) tasks have demonstrated remarkable success. However, the enormous size and computational demands of these models pose significant challenges for adapting them to specific downstream tasks, especially in environments with limited computational resources. Parameter Efficient Fine-Tuning (PEFT) offers an effective solution by reducing the number of fine-tuning parameters and memory usage while achieving comparable performance to full fine-tuning. The demands for fine-tuning PLMs, especially LLMs, have led to a surge in the development of PEFT methods, as depicted in Fig. 1. In this paper, we present a comprehensive and systematic review of PEFT methods for PLMs. We summarize these PEFT methods, discuss their applications, and outline future directions. Furthermore, we conduct experiments using several representative PEFT methods to better understand their effectiveness in parameter efficiency and memory efficiency. By offering insights into the latest advancements and practical applications, this survey serves as an invaluable resource for researchers and practitioners seeking to navigate the challenges and opportunities presented by PEFT in the context of PLMs.

This article presents the affordances that Generative Artificial Intelligence can have in disinformation context, one of the major threats to our digitalized society. We present a research framework to generate customized agent-based social networks for disinformation simulations that would enable understanding and evaluation of the phenomena whilst discussing open challenges.

We address the task of automatically scoring the competency of candidates based on textual features, from the automatic speech recognition (ASR) transcriptions in the asynchronous video job interview (AVI). The key challenge is how to construct the dependency relation between questions and answers, and conduct the semantic level interaction for each question-answer (QA) pair. However, most of the recent studies in AVI focus on how to represent questions and answers better, but ignore the dependency information and interaction between them, which is critical for QA evaluation. In this work, we propose a Hierarchical Reasoning Graph Neural Network (HRGNN) for the automatic assessment of question-answer pairs. Specifically, we construct a sentence-level relational graph neural network to capture the dependency information of sentences in or between the question and the answer. Based on these graphs, we employ a semantic-level reasoning graph attention network to model the interaction states of the current QA session. Finally, we propose a gated recurrent unit encoder to represent the temporal question-answer pairs for the final prediction. Empirical results conducted on CHNAT (a real-world dataset) validate that our proposed model significantly outperforms text-matching based benchmark models. Ablation studies and experimental results with 10 random seeds also show the effectiveness and stability of our models.