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Collaborative perception aims to mitigate the limitations of single-agent perception, such as occlusions, by facilitating data exchange among multiple agents. However, most current works consider a homogeneous scenario where all agents use identity sensors and perception models. In reality, heterogeneous agent types may continually emerge and inevitably face a domain gap when collaborating with existing agents. In this paper, we introduce a new open heterogeneous problem: how to accommodate continually emerging new heterogeneous agent types into collaborative perception, while ensuring high perception performance and low integration cost? To address this problem, we propose HEterogeneous ALliance (HEAL), a novel extensible collaborative perception framework. HEAL first establishes a unified feature space with initial agents via a novel multi-scale foreground-aware Pyramid Fusion network. When heterogeneous new agents emerge with previously unseen modalities or models, we align them to the established unified space with an innovative backward alignment. This step only involves individual training on the new agent type, thus presenting extremely low training costs and high extensibility. It also protects new agents' model details from disclosure since the training can be conducted by the agent owner locally. To enrich agents' data heterogeneity, we bring OPV2V-H, a new large-scale dataset with more diverse sensor types. Extensive experiments on OPV2V-H and DAIR-V2X datasets show that HEAL surpasses SOTA methods in performance while reducing the training parameters by 91.5% when integrating 3 new agent types. Code and data are available at: //github.com/yifanlu0227/HEAL.

We consider the problem of policy transfer between two Markov Decision Processes (MDPs). We introduce a lemma based on existing theoretical results in reinforcement learning to measure the relativity gap between two arbitrary MDPs, that is the difference between any two cumulative expected returns defined on different policies and environment dynamics. Based on this lemma, we propose two new algorithms referred to as Relative Policy Optimization (RPO) and Relative Transition Optimization (RTO), which offer fast policy transfer and dynamics modelling, respectively. RPO transfers the policy evaluated in one environment to maximize the return in another, while RTO updates the parameterized dynamics model to reduce the gap between the dynamics of the two environments. Integrating the two algorithms results in the complete Relative Policy-Transition Optimization (RPTO) algorithm, in which the policy interacts with the two environments simultaneously, such that data collections from two environments, policy and transition updates are completed in one closed loop to form a principled learning framework for policy transfer. We demonstrate the effectiveness of RPTO on a set of MuJoCo continuous control tasks by creating policy transfer problems via variant dynamics.

We consider the ubiquitous linear inverse problems with additive Gaussian noise and propose an unsupervised sampling approach called diffusion model based posterior sampling (DMPS) to reconstruct the unknown signal from noisy linear measurements. Specifically, using one diffusion model (DM) as an implicit prior, the fundamental difficulty in performing posterior sampling is that the noise-perturbed likelihood score, i.e., gradient of an annealed likelihood function, is intractable. To circumvent this problem, we introduce a simple yet effective closed-form approximation using an uninformative prior assumption. Extensive experiments are conducted on a variety of noisy linear inverse problems such as noisy super-resolution, denoising, deblurring, and colorization. In all tasks, the proposed DMPS demonstrates highly competitive or even better performances on various tasks while being 3 times faster than the state-of-the-art competitor diffusion posterior sampling (DPS).

Bayesian inference with empirical likelihood faces a challenge as the posterior domain is a proper subset of the original parameter space due to the convex hull constraint. We propose a regularized exponentially tilted empirical likelihood to address this issue. Our method removes the convex hull constraint using a novel regularization technique, incorporating a continuous exponential family distribution to satisfy a Kullback--Leibler divergence criterion. The regularization arises as a limiting procedure where pseudo-data are added to the formulation of exponentially tilted empirical likelihood in a structured fashion. We show that this regularized exponentially tilted empirical likelihood retains certain desirable asymptotic properties of (exponentially tilted) empirical likelihood and has improved finite sample performance. Simulation and data analysis demonstrate that the proposed method provides a suitable pseudo-likelihood for Bayesian inference. The implementation of our method is available as the R package retel. Supplementary materials for this article are available online.

The task of rumour verification in social media concerns assessing the veracity of a claim on the basis of conversation threads that result from it. While previous work has focused on predicting a veracity label, here we reformulate the task to generate model-centric, free-text explanations of a rumour's veracity. We follow an unsupervised approach by first utilising post-hoc explainability methods to score the most important posts within a thread and then we use these posts to generate informative explanatory summaries by employing template-guided summarisation. To evaluate the informativeness of the explanatory summaries, we exploit the few-shot learning capabilities of a large language model (LLM). Our experiments show that LLMs can have similar agreement to humans in evaluating summaries. Importantly, we show that explanatory abstractive summaries are more informative and better reflect the predicted rumour veracity than just using the highest ranking posts in the thread.

Traffic prediction, a critical component for intelligent transportation systems, endeavors to foresee future traffic at specific locations using historical data. Although existing traffic prediction models often emphasize developing complex neural network structures, their accuracy has not seen improvements accordingly. Recently, Large Language Models (LLMs) have shown outstanding capabilities in time series analysis. Differing from existing models, LLMs progress mainly through parameter expansion and extensive pre-training while maintaining their fundamental structures. In this paper, we propose a Spatial-Temporal Large Language Model (ST-LLM) for traffic prediction. Specifically, ST-LLM redefines the timesteps at each location as tokens and incorporates a spatial-temporal embedding module to learn the spatial location and global temporal representations of tokens. Then these representations are fused to provide each token with unified spatial and temporal information. Furthermore, we propose a novel partially frozen attention strategy of the LLM, which is designed to capture spatial-temporal dependencies for traffic prediction. Comprehensive experiments on real traffic datasets offer evidence that ST-LLM outperforms state-of-the-art models. Notably, the ST-LLM also exhibits robust performance in both few-shot and zero-shot prediction scenarios.

Graph neural networks (GNNs) is widely used to learn a powerful representation of graph-structured data. Recent work demonstrates that transferring knowledge from self-supervised tasks to downstream tasks could further improve graph representation. However, there is an inherent gap between self-supervised tasks and downstream tasks in terms of optimization objective and training data. Conventional pre-training methods may be not effective enough on knowledge transfer since they do not make any adaptation for downstream tasks. To solve such problems, we propose a new transfer learning paradigm on GNNs which could effectively leverage self-supervised tasks as auxiliary tasks to help the target task. Our methods would adaptively select and combine different auxiliary tasks with the target task in the fine-tuning stage. We design an adaptive auxiliary loss weighting model to learn the weights of auxiliary tasks by quantifying the consistency between auxiliary tasks and the target task. In addition, we learn the weighting model through meta-learning. Our methods can be applied to various transfer learning approaches, it performs well not only in multi-task learning but also in pre-training and fine-tuning. Comprehensive experiments on multiple downstream tasks demonstrate that the proposed methods can effectively combine auxiliary tasks with the target task and significantly improve the performance compared to state-of-the-art methods.

Recent contrastive representation learning methods rely on estimating mutual information (MI) between multiple views of an underlying context. E.g., we can derive multiple views of a given image by applying data augmentation, or we can split a sequence into views comprising the past and future of some step in the sequence. Contrastive lower bounds on MI are easy to optimize, but have a strong underestimation bias when estimating large amounts of MI. We propose decomposing the full MI estimation problem into a sum of smaller estimation problems by splitting one of the views into progressively more informed subviews and by applying the chain rule on MI between the decomposed views. This expression contains a sum of unconditional and conditional MI terms, each measuring modest chunks of the total MI, which facilitates approximation via contrastive bounds. To maximize the sum, we formulate a contrastive lower bound on the conditional MI which can be approximated efficiently. We refer to our general approach as Decomposed Estimation of Mutual Information (DEMI). We show that DEMI can capture a larger amount of MI than standard non-decomposed contrastive bounds in a synthetic setting, and learns better representations in a vision domain and for dialogue generation.

With the explosion of online news, personalized news recommendation becomes increasingly important for online news platforms to help their users find interesting information. Existing news recommendation methods achieve personalization by building accurate news representations from news content and user representations from their direct interactions with news (e.g., click), while ignoring the high-order relatedness between users and news. Here we propose a news recommendation method which can enhance the representation learning of users and news by modeling their relatedness in a graph setting. In our method, users and news are both viewed as nodes in a bipartite graph constructed from historical user click behaviors. For news representations, a transformer architecture is first exploited to build news semantic representations. Then we combine it with the information from neighbor news in the graph via a graph attention network. For user representations, we not only represent users from their historically clicked news, but also attentively incorporate the representations of their neighbor users in the graph. Improved performances on a large-scale real-world dataset validate the effectiveness of our proposed method.

Graph neural networks (GNNs) are a popular class of machine learning models whose major advantage is their ability to incorporate a sparse and discrete dependency structure between data points. Unfortunately, GNNs can only be used when such a graph-structure is available. In practice, however, real-world graphs are often noisy and incomplete or might not be available at all. With this work, we propose to jointly learn the graph structure and the parameters of graph convolutional networks (GCNs) by approximately solving a bilevel program that learns a discrete probability distribution on the edges of the graph. This allows one to apply GCNs not only in scenarios where the given graph is incomplete or corrupted but also in those where a graph is not available. We conduct a series of experiments that analyze the behavior of the proposed method and demonstrate that it outperforms related methods by a significant margin.