Accurate prediction of driving scenes is essential for road safety and autonomous driving. Occupancy Grid Maps (OGMs) are commonly employed for scene prediction due to their structured spatial representation, flexibility across sensor modalities and integration of uncertainty. Recent studies have successfully combined OGMs with deep learning methods to predict the evolution of scene and learn complex behaviours. These methods, however, do not consider prediction of flow or velocity vectors in the scene. In this work, we propose a novel multi-task framework that leverages dynamic OGMs and semantic information to predict both future vehicle semantic grids and the future flow of the scene. This incorporation of semantic flow not only offers intermediate scene features but also enables the generation of warped semantic grids. Evaluation on the real-world NuScenes dataset demonstrates improved prediction capabilities and enhanced ability of the model to retain dynamic vehicles within the scene.

Transformers are often the go-to architecture to build foundation models that ingest a large amount of training data. But these models do not estimate the probability density distribution when trained on regression problems, yet obtaining full probabilistic outputs is crucial to many fields of science, where the probability distribution of the answer can be non-Gaussian and multimodal. In this work, we demonstrate that training a probabilistic model using a denoising diffusion head on top of the Transformer provides reasonable probability density estimation even for high-dimensional inputs. The combined Transformer+Denoising Diffusion model allows conditioning the output probability density on arbitrary combinations of inputs and it is thus a highly flexible density function emulator of all possible input/output combinations. We illustrate our Transformer+Denoising Diffusion model by training it on a large dataset of astronomical observations and measured labels of stars within our Galaxy and we apply it to a variety of inference tasks to show that the model can infer labels accurately with reasonable distributions.

Public transportation plays a crucial role in our lives, and the road network is a vital component in the implementation of smart cities. Recent advancements in AI have enabled the development of advanced monitoring systems capable of detecting anomalies in road surfaces and road signs, which, if unaddressed, can lead to serious road accidents. This paper presents an innovative approach to enhance road safety through the detection and classification of traffic signs and road surface damage using advanced deep learning techniques. This integrated approach supports proactive maintenance strategies, improving road safety and resource allocation for the Molise region and the city of Campobasso. The resulting system, developed as part of the Casa delle Tecnologie Emergenti (House of Emergent Technologies) Molise (Molise CTE) research project funded by the Italian Minister of Economic Growth (MIMIT), leverages cutting-edge technologies such as Cloud Computing and High Performance Computing with GPU utilization. It serves as a valuable tool for municipalities, enabling quick detection of anomalies and the prompt organization of maintenance operations

We formalize the problem of prompt compression for large language models (LLMs) and present a framework to unify token-level prompt compression methods which create hard prompts for black-box models. We derive the distortion-rate function for this setup as a linear program, and provide an efficient algorithm to compute this fundamental limit via the dual of the linear program. Using the distortion-rate function as the baseline, we study the performance of existing compression schemes on a synthetic dataset consisting of prompts generated from a Markov chain, natural language queries, and their respective answers. Our empirical analysis demonstrates the criticality of query-aware prompt compression, where the compressor has knowledge of the downstream task/query for the black-box LLM. We show that there is a large gap between the performance of current prompt compression methods and the optimal strategy, and propose a query-aware, variable-rate adaptation of a prior work to close the gap. We extend our experiments to a small natural language dataset to further confirm our findings on our synthetic dataset.

Over summer 2024, the world will be looking at Paris to encourage their favorite athletes win the Olympic gold medal. In handball, few nations will fight hard to win the precious metal with speculations predicting the victory for France or Denmark for men and France or Norway for women. However, there is so far no scientific method proposed to predict the final results of the competition. In this work, we leverage a deep learning model to predict the results of the handball tournament of the 2024 Olympic Games. This model, coupled with explainable AI (xAI) techniques, allows us to extract insightful information about the main factors influencing the outcome of each match. Notably, xAI helps sports experts understand how factors like match information or individual athlete performance contribute to the predictions. Furthermore, we integrate Large Language Models (LLMs) to generate human-friendly explanations that highlight the most important factors impacting the match results. By providing human-centric explanations, our approach offers a deeper understanding of the AI predictions, making them more actionable for coaches and analysts.

The development of miniature joint angle sensors is a crucial factor for the successful utilisation of various robotic applications in the healthcare and many other industries. This includes applications such as continuum robots used in minimally invasive surgery (MIS), prosthetics, wearable flexible devices, and many more [1]. Joint angle sensing in these applications, or more broadly, shape sensing, is required to accurately actuate and measure tip position and curvatures made by these robotic devices. To do this, a number of miniaturised joint angle sensors have been developed for integration into these applications, uti-lising various sensor types. Some examples include inertial, stretch, and FBG-based sensors [2].

Language agents, built on top of language models (LMs), are systems that can interact with complex environments, such as the open web. In this work, we examine whether such agents can perform realistic and time-consuming tasks on the web, e.g., monitoring real-estate markets or locating relevant nearby businesses. We introduce AssistantBench, a challenging new benchmark consisting of 214 realistic tasks that can be automatically evaluated, covering different scenarios and domains. We find that AssistantBench exposes the limitations of current systems, including language models and retrieval-augmented language models, as no model reaches an accuracy of more than 25 points. While closed-book LMs perform well, they exhibit low precision since they tend to hallucinate facts. State-of-the-art web agents reach a score of near zero. Additionally, we introduce SeePlanAct (SPA), a new web agent that significantly outperforms previous agents, and an ensemble of SPA and closed-book models reaches the best overall performance. Moreover, we analyze failures of current systems and highlight that web navigation remains a major challenge.

We introduce a theoretical and practical framework for efficient importance sampling of mini-batch samples for gradient estimation from single and multiple probability distributions. To handle noisy gradients, our framework dynamically evolves the importance distribution during training by utilizing a self-adaptive metric. Our framework combines multiple, diverse sampling distributions, each tailored to specific parameter gradients. This approach facilitates the importance sampling of vector-valued gradient estimation. Rather than naively combining multiple distributions, our framework involves optimally weighting data contribution across multiple distributions. This adapted combination of multiple importance yields superior gradient estimates, leading to faster training convergence. We demonstrate the effectiveness of our approach through empirical evaluations across a range of optimization tasks like classification and regression on both image and point cloud datasets.

Text embedding models have been popular for information retrieval applications such as semantic search and Question-Answering systems based on Retrieval-Augmented Generation (RAG). Those models are typically Transformer models that are fine-tuned with contrastive learning objectives. Many papers introduced new embedding model architectures and training approaches, however, one of the key ingredients, the process of mining negative passages, remains poorly explored or described. One of the challenging aspects of fine-tuning embedding models is the selection of high quality hard-negative passages for contrastive learning. In this paper we propose a family of positive-aware mining methods that leverage the positive relevance score for more effective false negatives removal. We also provide a comprehensive ablation study on hard-negative mining methods over their configurations, exploring different teacher and base models. We demonstrate the efficacy of our proposed methods by introducing the NV-Retriever-v1 model, which scores 60.9 on MTEB Retrieval (BEIR) benchmark and 0.65 points higher than previous methods. The model placed 1st when it was published to MTEB Retrieval on July 07, 2024.

Empathetic response generation is designed to comprehend the emotions of others and select the most appropriate strategies to assist them in resolving emotional challenges. Empathy can be categorized into cognitive empathy and affective empathy. The former pertains to the ability to understand and discern the emotional issues and situations of others, while the latter involves the capacity to provide comfort. To enhance one's empathetic abilities, it is essential to develop both these aspects. Therefore, we develop an innovative framework that combines retrieval augmentation and emotional support strategy integration. Our framework starts with the introduction of a comprehensive emotional palette for empathy. We then apply appraisal theory to decompose this palette and create a database of empathetic responses. This database serves as an external resource and enhances the LLM's empathy by integrating semantic retrieval mechanisms. Moreover, our framework places a strong emphasis on the proper articulation of response strategies. By incorporating emotional support strategies, we aim to enrich the model's capabilities in both cognitive and affective empathy, leading to a more nuanced and comprehensive empathetic response. Finally, we extract datasets ED and ET from the empathetic dialogue dataset \textsc{EmpatheticDialogues} and ExTES based on dialogue length. Experiments demonstrate that our framework can enhance the empathy ability of LLMs from both cognitive and affective empathy perspectives. Our code is released at https://github.com/CAS-SIAT-XinHai/APTNESS.