Abstract--This work considers the problem of optimal lane changing in a structured multi-agent road environment. The long-term decision variables account for selecting gaps between SVs on each lane. These lane transitions are used for I. N recent years many approaches have been proposed for vehicle motion planning in structured multi-lane road transition gaps on consecutive lanes are modeled by disjunctive environments. LTF are formulated consistently, i.e., a transition point constrains In fact, even deterministic two-dimensional motion planning the point-mass model trajectory to the corresponding problems with rectangular obstacles are NP-hard [1], [2]. Contrary to strict hierarchical decomposition, the coarser This work proposes a novel iterative planning algorithm, approximation of the high-level plan cannot be infeasible for referred to as long-short-term motion planner (LSTMP) that the low-level planner. The STF aims at optimizing a fourstate Within the formulation of the LTF, the locations of transitions discrete-time trajectory of a point-mass model including in time and position are continuous.

Multi-intent natural language understanding (NLU) presents a formidable challenge due to the model confusion arising from multiple intents within a single utterance. While previous works train the model contrastively to increase the margin between different multi-intent labels, they are less suited to the nuances of multi-intent NLU. They ignore the rich information between the shared intents, which is beneficial to constructing a better embedding space, especially in low-data scenarios. We introduce a two-stage Prediction-Aware Contrastive Learning (PACL) framework for multi-intent NLU to harness this valuable knowledge. Our approach capitalizes on shared intent information by integrating word-level pre-training and prediction-aware contrastive fine-tuning. We construct a pre-training dataset using a word-level data augmentation strategy. Subsequently, our framework dynamically assigns roles to instances during contrastive fine-tuning while introducing a prediction-aware contrastive loss to maximize the impact of contrastive learning. We present experimental results and empirical analysis conducted on three widely used datasets, demonstrating that our method surpasses the performance of three prominent baselines on both low-data and full-data scenarios.

Social media platforms such as Twitter, Reddit, and Sina Weibo play a crucial role in global communication but often encounter strict regulations in geopolitically sensitive regions. This situation has prompted users to ingeniously modify their way of communicating, frequently resorting to coded language in these regulated social media environments. This shift in communication is not merely a strategy to counteract regulation, but a vivid manifestation of language evolution, demonstrating how language naturally evolves under societal and technological pressures. Studying the evolution of language in regulated social media contexts is of significant importance for ensuring freedom of speech, optimizing content moderation, and advancing linguistic research. This paper proposes a multi-agent simulation framework using Large Language Models (LLMs) to explore the evolution of user language in regulated social media environments. The framework employs LLM-driven agents: supervisory agent who enforce dialogue supervision and participant agents who evolve their language strategies while engaging in conversation, simulating the evolution of communication styles under strict regulations aimed at evading social media regulation. The study evaluates the framework's effectiveness through a range of scenarios from abstract scenarios to real-world situations. Key findings indicate that LLMs are capable of simulating nuanced language dynamics and interactions in constrained settings, showing improvement in both evading supervision and information accuracy as evolution progresses. Furthermore, it was found that LLM agents adopt different strategies for different scenarios.

The volume of unlabelled Earth observation (EO) data is huge, but many important applications lack labelled training data. However, EO data offers the unique opportunity to pair data from different modalities and sensors automatically based on geographic location and time, at virtually no human labor cost. We seize this opportunity to create a diverse multi-modal pretraining dataset at global scale. Using this new corpus of 1.2 million locations, we propose a Multi-Pretext Masked Autoencoder (MP-MAE) approach to learn general-purpose representations for optical satellite images. Our approach builds on the ConvNeXt V2 architecture, a fully convolutional masked autoencoder (MAE). Drawing upon a suite of multi-modal pretext tasks, we demonstrate that our MP-MAE approach outperforms both MAEs pretrained on ImageNet and MAEs pretrained on domain-specific satellite images. This is shown on several downstream tasks including image classification and semantic segmentation. We find that multi-modal pretraining notably improves the linear probing performance, e.g. 4pp on BigEarthNet and 16pp on So2Sat, compared to pretraining on optical satellite images only. We show that this also leads to better label and parameter efficiency which are crucial aspects in global scale applications.

Generative Artificial Intelligence (AI) is integrated into everyday technology, including news, education, and social media. AI has further pervaded private conversations as conversational partners, auto-completion, and response suggestions. As social media becomes young people's main method of peer support exchange, we need to understand when and how AI can facilitate and assist in such exchanges in a beneficial, safe, and socially appropriate way. We asked 622 young people to complete an online survey and evaluate blinded human- and AI-generated responses to help-seeking messages. We found that participants preferred the AI-generated response to situations about relationships, self-expression, and physical health. However, when addressing a sensitive topic, like suicidal thoughts, young people preferred the human response. We also discuss the role of training in online peer support exchange and its implications for supporting young people's well-being. Disclaimer: This paper includes sensitive topics, including suicide ideation. Reader discretion is advised.

Humans can develop new theorems to explore broader and more complex mathematical results. While current generative language models (LMs) have achieved significant improvement in automatically proving theorems, their ability to generate new or reusable theorems is still under-explored. Without the new theorems, current LMs struggle to prove harder theorems that are distant from the given hypotheses with the exponentially growing search space. Therefore, this paper proposes an Automated Theorem Generation (ATG) benchmark that evaluates whether an agent can automatically generate valuable (and possibly brand new) theorems that are applicable for downstream theorem proving as reusable knowledge. Specifically, we construct the ATG benchmark by Figure 1: An example theorem generated by GPT-4 splitting the Metamath library into three sets: (OpenAI, 2023). GPT-4 wrongly refers to the intermediate axioms, library, and problem based on their theorem (A (B A) A A) as proving depth. We conduct extensive experiments ((A B) (A A)). In Step 4, it applies "ax-to investigate whether current LMs can 1" but obtains the wrong expression instead of correct generate theorems in the library and benefit (A (B A)) and can not derive (A A) even the problem theorems proving. The results with the incorrect Steps 4 and 5. demonstrate that high-quality ATG data facilitates models' performances on downstream

Despite the longstanding adage "an image is worth a thousand words," creating accurate and hyper-detailed image descriptions for training Vision-Language models remains challenging. Current datasets typically have web-scraped descriptions that are short, low-granularity, and often contain details unrelated to the visual content. As a result, models trained on such data generate descriptions replete with missing information, visual inconsistencies, and hallucinations. To address these issues, we introduce ImageInWords (IIW), a carefully designed human-in-the-loop annotation framework for curating hyper-detailed image descriptions and a new dataset resulting from this process. We validate the framework through evaluations focused on the quality of the dataset and its utility for fine-tuning with considerations for readability, comprehensiveness, specificity, hallucinations, and human-likeness. Our dataset significantly improves across these dimensions compared to recently released datasets (+66%) and GPT-4V outputs (+48%). Furthermore, models fine-tuned with IIW data excel by +31% against prior work along the same human evaluation dimensions. Given our fine-tuned models, we also evaluate text-to-image generation and vision-language reasoning. Our model's descriptions can generate images closest to the original, as judged by both automated and human metrics. We also find our model produces more compositionally rich descriptions, outperforming the best baseline by up to 6% on ARO, SVO-Probes, and Winoground datasets.

The task of Information Retrieval (IR) requires a system to identify relevant documents based on users' information needs. In real-world scenarios, retrievers are expected to not only rely on the semantic relevance between the documents and the queries but also recognize the nuanced intents or perspectives behind a user query. For example, when asked to verify a claim, a retrieval system is expected to identify evidence from both supporting vs. contradicting perspectives, for the downstream system to make a fair judgment call. In this work, we study whether retrievers can recognize and respond to different perspectives of the queries -- beyond finding relevant documents for a claim, can retrievers distinguish supporting vs. opposing documents? We reform and extend six existing tasks to create a benchmark for retrieval, where we have diverse perspectives described in free-form text, besides root, neutral queries. We show that current retrievers covered in our experiments have limited awareness of subtly different perspectives in queries and can also be biased toward certain perspectives. Motivated by the observation, we further explore the potential to leverage geometric features of retriever representation space to improve the perspective awareness of retrievers in a zero-shot manner. We demonstrate the efficiency and effectiveness of our projection-based methods on the same set of tasks. Further analysis also shows how perspective awareness improves performance on various downstream tasks, with 4.2% higher accuracy on AmbigQA and 29.9% more correlation with designated viewpoints on essay writing, compared to non-perspective-aware baselines.

Text Style Transfer (TST) seeks to alter the style of text while retaining its core content. Given the constraints of limited parallel datasets for TST, we propose CoTeX, a framework that leverages large language models (LLMs) alongside chain-of-thought (CoT) prompting to facilitate TST. CoTeX distills the complex rewriting and reasoning capabilities of LLMs into more streamlined models capable of working with both non-parallel and parallel data. Through experimentation across four TST datasets, CoTeX is shown to surpass traditional supervised fine-tuning and knowledge distillation methods, particularly in low-resource settings. We conduct a comprehensive evaluation, comparing CoTeX against current unsupervised, supervised, in-context learning (ICL) techniques, and instruction-tuned LLMs. Furthermore, CoTeX distinguishes itself by offering transparent explanations for its style transfer process.

We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that generate grasp poses directly from sensor input. In the domain of assistive robotics, we seek instead to utilise the user's cognitive abilities for enhanced satisfaction, grasping performance, and alignment with their high level task-specific goals. Given a pair of stereo images, we perform unknown object instance segmentation and generate a 3D reconstruction of the object of interest. In shared control, the user then guides the robot end-effector across a virtual hemisphere centered around the object to their desired approach direction. A physics-based grasp planner finds the most stable local grasp on the reconstruction, and finally the user is guided by shared control to this grasp. In experiments on the DLR EDAN platform, we report a grasp success rate of 87% for 10 unknown objects, and demonstrate the method's capability to grasp objects in structured clutter and from shelves.