This paper tackles decentralized continuous task allocation in heterogeneous multi-agent systems. We present a novel framework HIPPO-MAT that integrates graph neural networks (GNN) employing a GraphSAGE architecture to compute independent embeddings on each agent with an Independent Proximal Policy Optimization (IPPO) approach for multi-agent deep reinforcement learning. In our system, unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) share aggregated observation data via communication channels while independently processing these inputs to generate enriched state embeddings. This design enables dynamic, cost-optimal, conflict-aware task allocation in a 3D grid environment without the need for centralized coordination. A modified A* path planner is incorporated for efficient routing and collision avoidance. Simulation experiments demonstrate scalability with up to 30 agents and preliminary real-world validation on JetBot ROS AI Robots, each running its model on a Jetson Nano and communicating through an ESP-NOW protocol using ESP32-S3, which confirms the practical viability of the approach that incorporates simultaneous localization and mapping (SLAM). Experimental results revealed that our method achieves a high 92.5% conflict-free success rate, with only a 16.49% performance gap compared to the centralized Hungarian method, while outperforming the heuristic decentralized baseline based on greedy approach. Additionally, the framework exhibits scalability with up to 30 agents with allocation processing of 0.32 simulation step time and robustness in responding to dynamically generated tasks.

Treebanks are important linguistic resources, which are structured and annotated corpora with rich linguistic annotations. These resources are used in Natural Language Processing (NLP) applications, supporting linguistic analyses, and are essential for training and evaluating various computational models. This paper discusses the creation of Tamil treebanks using three distinct approaches: manual annotation, computational grammars, and machine learning techniques. Manual annotation, though time-consuming and requiring linguistic expertise, ensures high-quality and rich syntactic and semantic information. Computational deep grammars, such as Lexical Functional Grammar (LFG), offer deep linguistic analyses but necessitate significant knowledge of the formalism. Machine learning approaches, utilising off-the-shelf frameworks and tools like Stanza, UDpipe, and UUParser, facilitate the automated annotation of large datasets but depend on the availability of quality annotated data, cross-linguistic training resources, and computational power. The paper discusses the challenges encountered in building Tamil treebanks, including issues with Internet data, the need for comprehensive linguistic analysis, and the difficulty of finding skilled annotators. Despite these challenges, the development of Tamil treebanks is essential for advancing linguistic research and improving NLP tools for Tamil.

Tokenizers act as a bridge between human language and the latent space of language models, influencing how language is represented in these models. Due to the immense popularity of English-Centric Large Language Models (LLMs), efforts are being made to adapt them for other languages. However, we demonstrate that, from a tokenization standpoint, not all tokenizers offer fair representation for complex script languages such as Tamil, Sinhala, and Hindi, primarily due to the choice of pre-tokenization methods. We go further to show that pre-tokenization plays a more critical role than the tokenization algorithm itself in achieving an egalitarian representation of these complex script languages. To address this, we introduce an improvement to the Byte Pair Encoding (BPE) algorithm by incorporating graphemes, which we term Grapheme Pair Encoding (GPE). Our experiments show that grapheme-based character extraction outperforms byte-level tokenizers for complex scripts. We validate this approach through experiments on Tamil, Sinhala, and Hindi.

This paper addresses the challenges of exploration and navigation in unknown environments from the perspective of evolutionary swarm robotics. A key focus is on path formation, which is essential for enabling cooperative swarm robots to navigate effectively. We designed the task allocation and path formation process based on a finite state machine, ensuring systematic decision-making and efficient state transitions. The approach is decentralized, allowing each robot to make decisions independently based on local information, which enhances scalability and robustness. We present a novel subgoal-based path formation method that establishes paths between locations by leveraging visually connected subgoals. Simulation experiments conducted in the Argos simulator show that this method successfully forms paths in the majority of trials. However, inter-collision (traffic) among numerous robots during path formation can negatively impact performance. To address this issue, we propose a task allocation strategy that uses local communication protocols and light signal-based communication to manage robot deployment. This strategy assesses the distance between points and determines the optimal number of robots needed for the path formation task, thereby reducing unnecessary exploration and traffic congestion. The performance of both the subgoal-based path formation method and the task allocation strategy is evaluated by comparing the path length, time, and resource usage against the A* algorithm. Simulation results demonstrate the effectiveness of our approach, highlighting its scalability, robustness, and fault tolerance.

This paper delves into the text processing aspects of Language Computing, which enables computers to understand, interpret, and generate human language. Focusing on tasks such as speech recognition, machine translation, sentiment analysis, text summarization, and language modelling, language computing integrates disciplines including linguistics, computer science, and cognitive psychology to create meaningful human-computer interactions. Recent advancements in deep learning have made computers more accessible and capable of independent learning and adaptation. In examining the landscape of language computing, the paper emphasises foundational work like encoding, where Tamil transitioned from ASCII to Unicode, enhancing digital communication. It discusses the development of computational resources, including raw data, dictionaries, glossaries, annotated data, and computational grammars, necessary for effective language processing. The challenges of linguistic annotation, the creation of treebanks, and the training of large language models are also covered, emphasising the need for high-quality, annotated data and advanced language models. The paper underscores the importance of building practical applications for languages like Tamil to address everyday communication needs, highlighting gaps in current technology. It calls for increased research collaboration, digitization of historical texts, and fostering digital usage to ensure the comprehensive development of Tamil language processing, ultimately enhancing global communication and access to digital services.

This paper provides an overview of the morphology and syntax of the Tamil language, focusing on its contemporary usage. The paper also highlights the complexity and richness of Tamil in terms of its morphological and syntactic features, which will be useful for linguists analysing the language and conducting comparative studies. In addition, the paper will be useful for those developing computational resources for the Tamil language. It is proven as a rule-based morphological analyser cum generator and a computational grammar for Tamil have already been developed based on this paper. To enhance accessibility for a broader audience, the analysis is conducted without relying on any specific grammatical formalism.

This research paper addresses the challenges of exploration and navigation in unknown environments from an evolutionary swarm robotics perspective. Path formation plays a crucial role in enabling cooperative swarm robots to accomplish these tasks. The paper presents a method called the sub-goal-based path formation, which establishes a path between two different locations by exploiting visually connected sub-goals. Simulation experiments conducted in the Argos simulator demonstrate the successful formation of paths in the majority of trials. Furthermore, the paper tackles the problem of inter-collision (traffic) among a large number of robots engaged in path formation, which negatively impacts the performance of the sub-goal-based method. To mitigate this issue, a task allocation strategy is proposed, leveraging local communication protocols and light signal-based communication. The strategy evaluates the distance between points and determines the required number of robots for the path formation task, reducing unwanted exploration and traffic congestion. The performance of the sub-goal-based path formation and task allocation strategy is evaluated by comparing path length, time, and resource reduction against the A* algorithm. The simulation experiments demonstrate promising results, showcasing the scalability, robustness, and fault tolerance characteristics of the proposed approach.

The rapid development of Large Language Models (LLMs) and the emergence of novel abilities with scale have necessitated the construction of holistic, diverse and challenging benchmarks such as HELM and BIG-bench. However, at the moment, most of these benchmarks focus only on performance in English and evaluations that include Southeast Asian (SEA) languages are few in number. We therefore propose BHASA, a holistic linguistic and cultural evaluation suite for LLMs in SEA languages. It comprises three components: (1) a NLP benchmark covering eight tasks across Natural Language Understanding (NLU), Generation (NLG) and Reasoning (NLR) tasks, (2) LINDSEA, a linguistic diagnostic toolkit that spans the gamut of linguistic phenomena including syntax, semantics and pragmatics, and (3) a cultural diagnostics dataset that probes for both cultural representation and sensitivity. For this preliminary effort, we implement the NLP benchmark only for Indonesian, Vietnamese, Thai and Tamil, and we only include Indonesian and Tamil for LINDSEA and the cultural diagnostics dataset. As GPT-4 is purportedly one of the best-performing multilingual LLMs at the moment, we use it as a yardstick to gauge the capabilities of LLMs in the context of SEA languages. Our initial experiments on GPT-4 with BHASA find it lacking in various aspects of linguistic capabilities, cultural representation and sensitivity in the targeted SEA languages. BHASA is a work in progress and will continue to be improved and expanded in the future.

Figure 1 - Contributions of the Paper and Fair, Accessible, Interpretable and Reproducible (FAIR) AI adapted from (Halgamuge S., 2021) Artificial intelligence (AI) has seen an explosive growth over the last 20 years, largely through recent advances in machine learning (ML) - the data-centric branch of AI. A data-centric AI system consists of an AI model (a structure or architecture) and a method or learning algorithm that enables that model to derive usable information from data. Sometimes the data are exploratory, like the genomic data arriving from different parts of the world about constantly mutating viruses. To discover the presence of new variants or labels, we can feed an AI model with such uninterpreted data, so that researchers will be able to use this AI model to assign labels. Such AI models need unsupervised learning (UL) algorithms to extract information from unlabeled and uninterpreted data. We could also ask those researchers themselves to label data with appropriate variant labels, and feed both labels and genomic data to an AI model that can then use a supervised learning algorithm like deep learning (DL), so that it can serve as a predictor for known variants of the virus. If such an AI model of sufficient strength requires it to be large, deep and complex, we call it a deep neural network (DNN). Shallow neural networks, commonly referred to as Neural Networks (NNs) are data driven mathematical models consisting of about three layers of artificial neurons or nodes (several linear and nonlinear processing elements) which are interconnected through weighted connections.

Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the environment is not possible. The traditional Ultra-WideBand (UWB)-based approach provides a good estimation of the distance between the robots, but obtaining the relative pose (including the displacement and orientation) remains challenging. We propose an approach to estimate the relative pose between a group of robots by equipping each robot with multiple UWB ranging nodes. We determine the pose between two robots by minimizing the residual error of the ranging measurements from all UWB nodes. To improve the localization accuracy, we propose to utilize the odometry constraints through a sliding window-based optimization. The optimized pose is then fused with the odometry in a particle filtering for pose tracking among a group of mobile robots. We have conducted extensive experiments to validate the effectiveness of the proposed approach.