We address the problem of routing a team of drones and trucks over large-scale urban road networks. To conserve their limited flight energy, drones can use trucks as temporary modes of transit en route to their own destinations. Such coordination can yield significant savings in total vehicle distance traveled, i.e., truck travel distance and drone flight distance, compared to operating drones and trucks independently. But it comes at the potentially prohibitive computational cost of deciding which trucks and drones should coordinate and when and where it is most beneficial to do so. We tackle this fundamental trade-off by decoupling our overall intractable problem into tractable sub-problems that we solve stage-wise. The first stage solves only for trucks, by computing paths that make them more likely to be useful transit options for drones. The second stage solves only for drones, by routing them over a composite of the road network and the transit network defined by truck paths from the first stage. We design a comprehensive algorithmic framework that frames each stage as a multi-agent path-finding problem and implement two distinct methods for solving them. We evaluate our approach on extensive simulations with up to $100$ agents on the real-world Manhattan road network containing nearly $4500$ vertices and $10000$ edges. Our framework saves on more than $50\%$ of vehicle distance traveled compared to independently solving for trucks and drones, and computes solutions for all settings within $5$ minutes on commodity hardware.

Eighty-five percent of the world's population lives in areas impacted by human-induced climate change, according to an international team of researchers. They used a new machine learning approach to identify more than 100,000 scientific studies on the effects of climate change across every continent. This massive literature review created a global map of impacts, which the team then compared to changing trends of surface temperature and rain caused by humans. In the age of big data, using AI is an important tool for climate scientists, the researchers say. While it can't substitute for expert assessments like the Intergovernmental Panel on Climate Change (IPPC), using machine learning to sort through climate studies is invaluable to helping map evidence in a systematic way.

Automated vehicles require a comprehensive understanding of traffic situations to ensure safe and anticipatory driving. In this context, the prediction of pedestrians is particularly challenging as pedestrian behavior can be influenced by multiple factors. In this paper, we thoroughly analyze the requirements on pedestrian behavior prediction for automated driving via a system-level approach. To this end we investigate real-world pedestrian-vehicle interactions with human drivers. Based on human driving behavior we then derive appropriate reaction patterns of an automated vehicle and determine requirements for the prediction of pedestrians. This includes a novel metric tailored to measure prediction performance from a system-level perspective. The proposed metric is evaluated on a large-scale dataset comprising thousands of real-world pedestrian-vehicle interactions. We furthermore conduct an ablation study to evaluate the importance of different contextual cues and compare these results to ones obtained using established performance metrics for pedestrian prediction. Our results highlight the importance of a system-level approach to pedestrian behavior prediction.

Due to the complicated procedure and costly hardware, Simultaneous Localization and Mapping (SLAM) has been heavily dependent on public datasets for drill and evaluation, leading to many impressive demos and good benchmark scores. However, with a huge contrast, SLAM is still struggling on the way towards mature deployment, which sounds a warning: some of the datasets are overexposed, causing biased usage and evaluation. This raises the problem on how to comprehensively access the existing datasets and correctly select them. Moreover, limitations do exist in current datasets, then how to build new ones and which directions to go? Nevertheless, a comprehensive survey which can tackle the above issues does not exist yet, while urgently demanded by the community. To fill the gap, this paper strives to cover a range of cohesive topics about SLAM related datasets, including general collection methodology and fundamental characteristic dimensions, SLAM related tasks taxonomy and datasets categorization, introduction of state-of-the-arts, overview and comparison of existing datasets, review of evaluation criteria, and analyses and discussions about current limitations and future directions, looking forward to not only guiding the dataset selection, but also promoting the dataset research.

Responsing with image has been recognized as an important capability for an intelligent conversational agent. Yet existing works only focus on exploring the multimodal dialogue models which depend on retrieval-based methods, but neglecting generation methods. To fill in the gaps, we first present a multimodal dialogue generation model, which takes the dialogue history as input, then generates a textual sequence or an image as response. Learning such a model often requires multimodal dialogues containing both texts and images which are difficult to obtain. Motivated by the challenge in practice, we consider multimodal dialogue generation under a natural assumption that only limited training examples are available. In such a low-resource setting, we devise a novel conversational agent, Divter, in order to isolate parameters that depend on multimodal dialogues from the entire generation model. By this means, the major part of the model can be learned from a large number of text-only dialogues and text-image pairs respectively, then the whole parameters can be well fitted using the limited training examples. Extensive experiments demonstrate our method achieves state-of-the-art results in both automatic and human evaluation, and can generate informative text and high-resolution image responses.

Multi-head attention is a driving force behind state-of-the-art transformers which achieve remarkable performance across a variety of natural language processing (NLP) and computer vision tasks. It has been observed that for many applications, those attention heads learn redundant embedding, and most of them can be removed without degrading the performance of the model. Inspired by this observation, we propose Transformer with a Mixture of Gaussian Keys (Transformer-MGK), a novel transformer architecture that replaces redundant heads in transformers with a mixture of keys at each head. These mixtures of keys follow a Gaussian mixture model and allow each attention head to focus on different parts of the input sequence efficiently. Compared to its conventional transformer counterpart, Transformer-MGK accelerates training and inference, has fewer parameters, and requires less FLOPs to compute while achieving comparable or better accuracy across tasks. Transformer-MGK can also be easily extended to use with linear attentions. We empirically demonstrate the advantage of Transformer-MGK in a range of practical applications including language modeling and tasks that involve very long sequences. On the Wikitext-103 and Long Range Arena benchmark, Transformer-MGKs with 4 heads attain comparable or better performance to the baseline transformers with 8 heads.

The upcoming video game "Call of Duty: Vanguard" transports you back to World War II – but the latest entrant in the multibillion-selling franchises promises different perspectives of the global conflict. That diversity of perspectives is what you see deployed front and center in the main characters in the game, due out Nov. 5 for PlayStation 5, PS4, Xbox Series X/S, Xbox One, and PCs. Arthur Kingsley, who is Black and Russian sniper Lt. Polina Petrova, alongside squad mates Brooklyn-born pilot Wade Jackson, identified as a first-generation American, Australian explosives expert Lucas Riggs, and second-in-command Sgt. Richard Webb, who is white. This team – a precursor to the modern Special Forces units – is assembled for a mission to enter Berlin and thwart a German plan to establish a Fourth Reich.

The ASIAL Conference held over two-days will cover key topics including artificial intelligence and machine learning, cyber and physical security threats, digital transformation, social media crisis management as well as leading discussion into security in a post-COVID world. The ASIAL Security Conference sold out in 2017, 2018, and 2019. This year's virtual program includes a compelling line up of experts and academics who will share their insights on how to protect your business, brand reputation, and vital assets along with mitigating risk and vulnerability. As demand for security services grows, digital transformation and innovation is critical to the future growth and development of the Australian security industry. The use of technologies such as video analytics, augmented reality, cyber security and robotics will become commonplace, meaning that organisations will need to embrace change to remain competitive.

Discrete gene regulatory networks (GRNs) play a vital role in the study of robustness and modularity. A common method of evaluating the robustness of GRNs is to measure their ability to regulate a set of perturbed gene activation patterns back to their unperturbed forms. Usually, perturbations are obtained by collecting random samples produced by a predefined distribution of gene activation patterns. This sampling method introduces stochasticity, in turn inducing dynamicity. This dynamicity is imposed on top of an already complex fitness landscape. So where sampling is used, it is important to understand which effects arise from the structure of the fitness landscape, and which arise from the dynamicity imposed on it. Stochasticity of the fitness function also causes difficulties in reproducibility and in post-experimental analyses. We develop a deterministic distributional fitness evaluation by considering the complete distribution of gene activity patterns, so as to avoid stochasticity in fitness assessment. This fitness evaluation facilitates repeatability. Its determinism permits us to ascertain theoretical bounds on the fitness, and thus to identify whether the algorithm has reached a global optimum. It enables us to differentiate the effects of the problem domain from those of the noisy fitness evaluation, and thus to resolve two remaining anomalies in the behaviour of the problem domain of~\citet{espinosa2010specialization}. We also reveal some properties of solution GRNs that lead them to be robust and modular, leading to a deeper understanding of the nature of the problem domain. We conclude by discussing potential directions toward simulating and understanding the emergence of modularity in larger, more complex domains, which is key both to generating more useful modular solutions, and to understanding the ubiquity of modularity in biological systems.

Transformer-based models have achieved impressive performance on various Natural Language Inference (NLI) benchmarks, when trained on respective training datasets. However, in certain cases, training samples may not be available or collecting them could be time-consuming and resource-intensive. In this work, we address this challenge and present an explorative study on unsupervised NLI, a paradigm in which no human-annotated training samples are available. We investigate NLI under three challenging settings: PH, P, and NPH that differ in the extent of unlabeled data available for learning. As a solution, we propose a procedural data generation approach that leverages a set of sentence transformations to collect PHL (Premise, Hypothesis, Label) triplets for training NLI models, bypassing the need for human-annotated training datasets. Comprehensive experiments show that this approach results in accuracies of 66.75%, 65.9%, 65.39% in PH, P, NPH settings respectively, outperforming all existing baselines. Furthermore, fine-tuning our models with as little as ~0.1% of the training dataset (500 samples) leads to 12.2% higher accuracy than the model trained from scratch on the same 500 instances.