The widespread application of autonomous driving technology has significantly advanced the field of autonomous racing. Model Predictive Contouring Control (MPCC) is a highly effective local trajectory planning method for autonomous racing. However, the traditional MPCC method struggles with racetracks that have significant curvature changes, limiting the performance of the vehicle during autonomous racing. To address this issue, we propose a curvature-integrated MPCC (CiMPCC) local trajectory planning method for autonomous racing. This method optimizes the velocity of the local trajectory based on the curvature of the racetrack centerline. The specific implementation involves mapping the curvature of the racetrack centerline to a reference velocity profile, which is then incorporated into the cost function for optimizing the velocity of the local trajectory. This reference velocity profile is created by normalizing and mapping the curvature of the racetrack centerline, thereby ensuring efficient and performance-oriented local trajectory planning in racetracks with significant curvature. The proposed CiMPCC method has been experimented on a self-built 1:10 scale F1TENTH racing vehicle deployed with ROS platform. The experimental results demonstrate that the proposed method achieves outstanding results on a challenging racetrack with sharp curvature, improving the overall lap time by 11.4%-12.5% compared to other autonomous racing trajectory planning methods. Our code is available at https://github.com/zhouhengli/CiMPCC.

With the rise of large-scale language models (LLMs), it is currently popular and effective to convert multimodal information into text descriptions for multimodal multi-hop question answering. However, we argue that the current methods of multi-modal multi-hop question answering still mainly face two challenges: 1) The retrieved evidence containing a large amount of redundant information, inevitably leads to a significant drop in performance due to irrelevant information misleading the prediction. 2) The reasoning process without interpretable reasoning steps makes the model difficult to discover the logical errors for handling complex questions. To solve these problems, we propose a unified LLMs-based approach but without heavily relying on them due to the LLM's potential errors, and innovatively treat multimodal multi-hop question answering as a joint entailment tree generation and question answering problem. Specifically, we design a multi-task learning framework with a focus on facilitating common knowledge sharing across interpretability and prediction tasks while preventing task-specific errors from interfering with each other via mixture of experts. Afterward, we design an iterative feedback mechanism to further enhance both tasks by feeding back the results of the joint training to the LLM for regenerating entailment trees, aiming to iteratively refine the potential answer. Notably, our method has won the first place in the official leaderboard of WebQA (since April 10, 2024), and achieves competitive results on MultimodalQA.

Document visual question answering (DocVQA) pipelines that answer questions from documents have broad applications. Existing methods focus on handling single-page documents with multi-modal language models (MLMs), or rely on text-based retrieval-augmented generation (RAG) that uses text extraction tools such as optical character recognition (OCR). However, there are difficulties in applying these methods in real-world scenarios: (a) questions often require information across different pages or documents, where MLMs cannot handle many long documents; (b) documents often have important information in visual elements such as figures, but text extraction tools ignore them. We introduce M3DocRAG, a novel multi-modal RAG framework that flexibly accommodates various document contexts (closed-domain and open-domain), question hops (single-hop and multi-hop), and evidence modalities (text, chart, figure, etc.). M3DocRAG finds relevant documents and answers questions using a multi-modal retriever and an MLM, so that it can efficiently handle single or many documents while preserving visual information. Since previous DocVQA datasets ask questions in the context of a specific document, we also present M3DocVQA, a new benchmark for evaluating open-domain DocVQA over 3,000+ PDF documents with 40,000+ pages. In three benchmarks (M3DocVQA/MMLongBench-Doc/MP-DocVQA), empirical results show that M3DocRAG with ColPali and Qwen2-VL 7B achieves superior performance than many strong baselines, including state-of-the-art performance in MP-DocVQA. We provide comprehensive analyses of different indexing, MLMs, and retrieval models. Lastly, we qualitatively show that M3DocRAG can successfully handle various scenarios, such as when relevant information exists across multiple pages and when answer evidence only exists in images.

We present a novel method for learning densities with bounded support which enables us to incorporate'hard' topological constraints. In particular, we show how emerging techniques from computational algebraic topology and the notion of persistent homology can be combined with kernel-based methods from machine learning for the purpose of density estimation. The proposed formalism facilitates learning of models with bounded support in a principled way, and - by incorporating persistent homology techniques in our approach - we are able to encode algebraic-topological constraints which are not addressed in current state of the art probabilistic models. We study the behaviour of our method on two synthetic examples for various sample sizes and exemplify the benefits of the proposed approach on a real-world dataset by learning a motion model for a race car. We show how to learn a model which respects the underlying topological structure of the racetrack, constraining the trajectories of the car.

Using Betfair's time series data, an analysis of the United Kingdom (UK) horse racing market reveals an interesting paradox: a market with short tails, rapidly decaying autocorrelations, and no long-term memory. There seems to be a remarkably high level of informational efficiency in betting exchange returns, in contrast to financial assets that are characterized by heavy tails and volatility clustering. The generalized Gaussian unconditional distribution with a light tail point to a market where knowledge is quickly assimilated and reflected in prices. This is further supported by the extremely quick fading of autocorrelations and the absence of gain-loss asymmetry. Therefore, in addition to measuring long-range memory, the Hurst exponent also shows mean reversion, a sign that markets respond quickly to fresh information.

We present first results from the use of XGBoost, a highly effective machine learning (ML) method, within the Bristol Betting Exchange (BBE), an open-source agent-based model (ABM) designed to simulate a contemporary sports-betting exchange with in-play betting during track-racing events such as horse races. We use the BBE ABM and its array of minimally-simple bettor-agents as a synthetic data generator which feeds into our XGBoost ML system, with the intention that XGBoost discovers profitable dynamic betting strategies by learning from the more profitable bets made by the BBE bettor-agents. After this XGBoost training, which results in one or more decision trees, a bettor-agent with a betting strategy determined by the XGBoost-learned decision tree(s) is added to the BBE ABM and made to bet on a sequence of races under various conditions and betting-market scenarios, with profitability serving as the primary metric of comparison and evaluation. Our initial findings presented here show that XGBoost trained in this way can indeed learn profitable betting strategies, and can generalise to learn strategies that outperform each of the set of strategies used for creation of the training data. To foster further research and enhancements, the complete version of our extended BBE, including the XGBoost integration, has been made freely available as an open-source release on GitHub.

This article was featured in One Story to Read Today, a newsletter in which our editors recommend a single must-read from The Atlantic, Monday through Friday. Francis Curzon, born in 1884 and later named the fifth Earl Howe, loved a souped-up Bugatti. And he loved to drive fast. He was famous for his "great skill and daring" on the racetrack, and also, eventually, for crashing into pedestrians--knocking down a boy in Belfast, Northern Ireland; slamming into a horse-drawn cart and killing a peasant in Pesaro, Italy. These incidents (and 10 more) were recounted in a 1947 polemic by J. S. Dean, chair of the Pedestrians' Association in England.

When trying to answer complex questions, people often rely on multiple sources of information, such as visual, textual, and tabular data. Previous approaches to this problem have focused on designing input features or model structure in the multi-modal space, which is inflexible for cross-modal reasoning or data-efficient training. In this paper, we call for an alternative paradigm, which transforms the images and tables into unified language representations, so that we can simplify the task into a simpler textual QA problem that can be solved using three steps: retrieval, ranking, and generation, all within a language space. This idea takes advantage of the power of pre-trained language models and is implemented in a framework called Solar. Our experimental results show that Solar outperforms all existing methods by 10.6-32.3 pts on two datasets, MultimodalQA and MMCoQA, across ten different metrics. Additionally, Solar achieves the best performance on the WebQA leaderboard

Entity aspect recommendation is an emerging task in semantic search that helps users discover serendipitous and prominent information with respect to an entity, of which salience (e.g., popularity) is the most important factor in previous work. However, entity aspects are temporally dynamic and often driven by events happening over time. For such cases, aspect suggestion based solely on salience features can give unsatisfactory results, for two reasons. First, salience is often accumulated over a long time period and does not account for recency. Second, many aspects related to an event entity are strongly time-dependent. In this paper, we study the task of temporal aspect recommendation for a given entity, which aims at recommending the most relevant aspects and takes into account time in order to improve search experience. We propose a novel event-centric ensemble ranking method that learns from multiple time and type-dependent models and dynamically trades off salience and recency characteristics. Through extensive experiments on real-world query logs, we demonstrate that our method is robust and achieves better effectiveness than competitive baselines.

Which company is the Switzerland of AI? Why have AWS and Microsoft failed on the AI front? Who is leading in artificial intelligence? Find out with Holger Mueller, VP and principal analyst at Constellation Research. It's time to look at one of the most disruptive technologies that is just around the corner in enterprise tech: artificial intelligence (AI).