Search-based motion planning algorithms have been widely utilized for unmanned aerial vehicles (UAVs). However, deploying these algorithms on real UAVs faces challenges due to limited onboard computational resources. The algorithms struggle to find solutions in high-dimensional search spaces and require considerable time to ensure that the trajectories are dynamically feasible. This paper incorporates the lazy search concept into search-based planning algorithms to address the critical issue of real-time planning for collision-free and dynamically feasible trajectories on UAVs. We demonstrate that the lazy search motion planning algorithm can efficiently find optimal trajectories and significantly improve computational efficiency.

Hallucinations of large language models (LLMs) commonly occur in domain-specific downstream tasks, with no exception in ontology matching (OM). The prevalence of using LLMs for OM raises the need for benchmarks to better understand LLM hallucinations. The OAEI-LLM dataset is an extended version of the Ontology Alignment Evaluation Initiative (OAEI) datasets that evaluate LLM-specific hallucinations in OM tasks. We outline the methodology used in dataset construction and schema extension, and provide examples of potential use cases.

The stock market provides a rich well of information that can be split across modalities, making it an ideal candidate for multimodal evaluation. Multimodal data plays an increasingly important role in the development of machine learning and has shown to positively impact performance. But information can do more than exist across modes -- it can exist across time. How should we attend to temporal data that consists of multiple information types? This work introduces (i) the MEANT model, a Multimodal Encoder for Antecedent information and (ii) a new dataset called TempStock, which consists of price, Tweets, and graphical data with over a million Tweets from all of the companies in the S&P 500 Index. We find that MEANT improves performance on existing baselines by over 15%, and that the textual information affects performance far more than the visual information on our time-dependent task from our ablation study.

Traffic signal control is crucial for managing congestion in urban networks. Existing myopic pressure-based control methods focus only on immediate upstream links, leading to suboptimal green time allocation and increased network delays. Effective signal control, however, inherently requires a broader spatial scope, as traffic conditions further upstream can significantly impact traffic at the current location. This paper introduces a novel concept based on the Markov chain theory, namely multi-hop upstream pressure, that generalizes the conventional pressure to account for traffic conditions beyond the immediate upstream links. This farsighted and compact metric informs the deep reinforcement learning agent to preemptively clear the present queues, guiding the agent to optimize signal timings with a broader spatial awareness. Simulations on synthetic and realistic (Toronto) scenarios demonstrate controllers utilizing multi-hop upstream pressure significantly reduce overall network delay by prioritizing traffic movements based on a broader understanding of upstream congestion.

Node classification with Graph Neural Networks (GNN) under a fixed set of labels is well known in contrast to Graph Few-Shot Class Incremental Learning (GFSCIL), which involves learning a GNN classifier as graph nodes and classes growing over time sporadically. We introduce inductive GFSCIL that continually learns novel classes with newly emerging nodes while maintaining performance on old classes without accessing previous data. This addresses the practical concern of transductive GFSCIL, which requires storing the entire graph with historical data. Compared to the transductive GFSCIL, the inductive setting exacerbates catastrophic forgetting due to inaccessible previous data during incremental training, in addition to overfitting issue caused by label sparsity. Thus, we propose a novel method, called Topology-based class Augmentation and Prototype calibration (TAP). To be specific, it first creates a triple-branch multi-topology class augmentation method to enhance model generalization ability. As each incremental session receives a disjoint subgraph with nodes of novel classes, the multi-topology class augmentation method helps replicate such a setting in the base session to boost backbone versatility. In incremental learning, given the limited number of novel class samples, we propose an iterative prototype calibration to improve the separation of class prototypes. Furthermore, as backbone fine-tuning poses the feature distribution drift, prototypes of old classes start failing over time, we propose the prototype shift method for old classes to compensate for the drift. We showcase the proposed method on four datasets.

In the past several years there has been an explosion of available models for vision-language tasks. Unfortunately, the literature still leaves open a number of questions related to best practices in designing and training such models. In this paper we seek to answer several questions related to the pretraining of vision-language encoders through meta-analysis. In our first set of experiments, we show that we can save significant compute at no cost to downstream performance, by freezing large parts of vision-language models during pretraining. In our second set of experiments we examine the effect of basing a VL transformer on a vision model versus a text model. Additionally, we introduce a VL modeling platform called Renaissance that we use to conduct all of the experiments. This program offers a great deal of flexibility in creating, training and evaluating transformer encoders for VL modeling. The source code for Renaissance can be found at https://github.com/bsu-slim/renaissance.

Query-focused summarization (QFS) is the task of generating a summary in response to a user-written query. Despite its user-oriented nature, there has been limited work in QFS in explicitly considering a user's understanding of a generated summary, potentially causing QFS systems to underperform at inference time. In this paper, we adapt the Rational Speech Act (RSA) framework, a model of human communication, to explicitly model a reader's understanding of a query-focused summary and integrate it within the generation method of existing QFS systems. In particular, we introduce the answer reconstruction objective which approximates a reader's understanding of a summary by their ability to use it to reconstruct the answer to their initial query. Using this objective, we are able to re-rank candidate summaries generated by existing QFS systems and select summaries that better align with their corresponding query and reference summary. More generally, our study suggests that a simple and effective way of improving a language generation system designed for a user-centered task may be to explicitly incorporate its user requirements into the system's generation procedure.

Humans have the ability to abstract and generalize low-level visual elements, such as contours, edges, colors, textures, and shapes, to form high-level semantic features that aid in recognizing and understanding the similarities and differences between objects. This capability is particularly crucial in few-shot classification tasks, as it allows models to accurately identify and distinguish between different categories based on contrasting critical high-level semantic features, even when faced with a limited number of samples from new categories. In contrast, traditional deep learning methods [1, 2] typically rely on large amounts of labeled data for training in order to recognize and classify specific objects or concepts. In few-shot learning scenarios, these models may encounter challenges, as they are not specifically designed to learn from a small amount of data quickly. Recently, few-shot learning methods have been introduced to address this limitation, typically requiring only a few images to understand the characteristics of a class and generalize these features to unseen images for inductive reasoning.

Off-road environments pose significant perception challenges for high-speed autonomous navigation due to unstructured terrain, degraded sensing conditions, and domain-shifts among biomes. Learning semantic information across these conditions and biomes can be challenging when a large amount of ground truth data is required. In this work, we propose an approach that leverages a pre-trained Vision Transformer (ViT) with fine-tuning on a small (<500 images), sparse and coarsely labeled (<30% pixels) multi-biome dataset to predict 2D semantic segmentation classes. These classes are fused over time via a novel range-based metric and aggregated into a 3D semantic voxel map. We demonstrate zero-shot out-of-biome 2D semantic segmentation on the Yamaha (52.9 mIoU) and Rellis (55.5 mIoU) datasets along with few-shot coarse sparse labeling with existing data for improved segmentation performance on Yamaha (66.6 mIoU) and Rellis (67.2 mIoU). We further illustrate the feasibility of using a voxel map with a range-based semantic fusion approach to handle common off-road hazards like pop-up hazards, overhangs, and water features.

Language agents have demonstrated promising capabilities in automating web-based tasks, though their current reactive approaches still underperform largely compared to humans. While incorporating advanced planning algorithms, particularly tree search methods, could enhance these agents' performance, implementing tree search directly on live websites poses significant safety risks and practical constraints due to irreversible actions such as confirming a purchase. In this paper, we introduce a novel paradigm that augments language agents with model-based planning, pioneering the innovative use of large language models (LLMs) as world models in complex web environments. Our method, WebDreamer, builds on the key insight that LLMs inherently encode comprehensive knowledge about website structures and functionalities. Specifically, WebDreamer uses LLMs to simulate outcomes for each candidate action (e.g., "what would happen if I click this button?") using natural language descriptions, and then evaluates these imagined outcomes to determine the optimal action at each step. Empirical results on two representative web agent benchmarks with online interaction -- VisualWebArena and Mind2Web-live -- demonstrate that WebDreamer achieves substantial improvements over reactive baselines. By establishing the viability of LLMs as world models in web environments, this work lays the groundwork for a paradigm shift in automated web interaction. More broadly, our findings open exciting new avenues for future research into 1) optimizing LLMs specifically for world modeling in complex, dynamic environments, and 2) model-based speculative planning for language agents.