With recent developments in Embodied Artificial Intelligence (EAI) research, there has been a growing demand for high-quality, large-scale interactive scene generation. While prior methods in scene synthesis have prioritized the naturalness and realism of the generated scenes, the physical plausibility and interactivity of scenes have been largely left unexplored. To address this disparity, we introduce PhyScene, a novel method dedicated to generating interactive 3D scenes characterized by realistic layouts, articulated objects, and rich physical interactivity tailored for embodied agents. Based on a conditional diffusion model for capturing scene layouts, we devise novel physics- and interactivity-based guidance mechanisms that integrate constraints from object collision, room layout, and object reachability. Through extensive experiments, we demonstrate that PhyScene effectively leverages these guidance functions for physically interactable scene synthesis, outperforming existing state-of-the-art scene synthesis methods by a large margin. Our findings suggest that the scenes generated by PhyScene hold considerable potential for facilitating diverse skill acquisition among agents within interactive environments, thereby catalyzing further advancements in embodied AI research. Project website: http://physcene.github.io.

In domain-specific applications, GPT-4, augmented with precise prompts or Retrieval-Augmented Generation (RAG), shows notable potential but faces the critical tri-lemma of performance, cost, and data privacy. High performance requires sophisticated processing techniques, yet managing multiple agents within a complex workflow often proves costly and challenging. To address this, we introduce the PEER (Plan, Execute, Express, Review) multi-agent framework. This systematizes domain-specific tasks by integrating precise question decomposition, advanced information retrieval, comprehensive summarization, and rigorous self-assessment. Given the concerns of cost and data privacy, enterprises are shifting from proprietary models like GPT-4 to custom models, striking a balance between cost, security, and performance. We developed industrial practices leveraging online data and user feedback for efficient model tuning. This study provides best practice guidelines for applying multi-agent systems in domain-specific problem-solving and implementing effective agent tuning strategies. Our empirical studies, particularly in the financial question-answering domain, demonstrate that our approach achieves 95.0% of GPT-4's performance, while effectively managing costs and ensuring data privacy.

Diplomacy is one of the most sophisticated activities in human society. The complex interactions among multiple parties/ agents involve various abilities like social reasoning, negotiation arts, and long-term strategy planning. Previous AI agents surely have proved their capability of handling multi-step games and larger action spaces on tasks involving multiple agents. However, diplomacy involves a staggering magnitude of decision spaces, especially considering the negotiation stage required. Recently, LLM agents have shown their potential for extending the boundary of previous agents on a couple of applications, however, it is still not enough to handle a very long planning period in a complex multi-agent environment. Empowered with cutting-edge LLM technology, we make the first stab to explore AI's upper bound towards a human-like agent for such a highly comprehensive multi-agent mission by combining three core and essential capabilities for stronger LLM-based societal agents: 1) strategic planner with memory and reflection; 2) goal-oriented negotiate with social reasoning; 3) augmenting memory by self-play games to self-evolving without any human in the loop.

For robots to interact socially, they must interpret human intentions and anticipate their potential outcomes accurately. This is particularly important for social robots designed for human care, which may face potentially dangerous situations for people, such as unseen obstacles in their way, that should be avoided. This paper explores the Artificial Theory of Mind (ATM) approach to inferring and interpreting human intentions. We propose an algorithm that detects risky situations for humans, selecting a robot action that removes the danger in real time. We use the simulation-based approach to ATM and adopt the 'like-me' policy to assign intentions and actions to people. Using this strategy, the robot can detect and act with a high rate of success under time-constrained situations. The algorithm has been implemented as part of an existing robotics cognitive architecture and tested in simulation scenarios. Three experiments have been conducted to test the implementation's robustness, precision and real-time response, including a simulated scenario, a human-in-the-loop hybrid configuration and a real-world scenario.

Vision-and-Language Navigation (VLN) has gained increasing attention over recent years and many approaches have emerged to advance their development. The remarkable achievements of foundation models have shaped the challenges and proposed methods for VLN research. In this survey, we provide a top-down review that adopts a principled framework for embodied planning and reasoning, and emphasizes the current methods and future opportunities leveraging foundation models to address VLN challenges. We hope our in-depth discussions could provide valuable resources and insights: on one hand, to milestone the progress and explore opportunities and potential roles for foundation models in this field, and on the other, to organize different challenges and solutions in VLN to foundation model researchers.

Prior research has enhanced the ability of Large Language Models (LLMs) to solve logic puzzles using techniques such as chain-of-thought prompting or introducing a symbolic representation. These frameworks are still usually insufficient to solve complicated logical problems, such as Zebra puzzles, due to the inherent complexity of translating natural language clues into logical statements. We introduce a multi-agent system, ZPS, that integrates LLMs with an off the shelf theorem prover. This system tackles the complex puzzle-solving task by breaking down the problem into smaller, manageable parts, generating SMT (Satisfiability Modulo Theories) code to solve them with a theorem prover, and using feedback between the agents to repeatedly improve their answers. We also introduce an automated grid puzzle grader to assess the correctness of our puzzle solutions and show that the automated grader is reliable by evaluating it in a user-study. Our approach shows improvement in all three LLMs we tested, with GPT-4 showing 166% improvement in the number of fully correct solutions.

Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address uncertainties and the pre-computed guarantees often rely on the assumption of the particular distribution of the uncertainty. However, it is difficult to characterize the actual uncertainty distribution beforehand and thus the established safety guarantee may be violated due to possible distribution mismatch. In this paper, we propose a novel safe control framework that provides a high-probability safety guarantee for stochastic dynamical systems following unknown distributions of motion noise. Specifically, this framework adopts adaptive conformal prediction to dynamically quantify the prediction uncertainty from online observations and combines that with the probabilistic extension of the control barrier functions (CBFs) to characterize the uncertainty-aware control constraints. By integrating the constraints in the model predictive control scheme, it allows robots to adaptively capture the true prediction uncertainty online in a distribution-free setting and enjoys formally provable high-probability safety assurance. Simulation results on multi-robot systems with stochastic single-integrator dynamics and unicycle dynamics are provided to demonstrate the effectiveness of our framework.

The proper planning of different types of public transportation such as metro, highway, waterways, and so on, can increase the efficiency, reduce the congestion and improve the safety of the country. There are certain challenges associated with route planning, such as high cost of implementation, need for adequate resource & infrastructure and resistance to change. The goal of this research is to examine the working, applications, complexity factors, advantages & disadvantages of Floyd- Warshall, Bellman-Ford, Johnson, Ant Colony Optimization (ACO), Particle Swarm Optimization (PSO), & Grey Wolf Optimizer (GWO), to find the best choice for the above application. In this paper, comparative analysis of above-mentioned algorithms is presented. The Floyd-Warshall method and ACO algorithm are chosen based on the comparisons. Also, a combination of modified Floyd-Warshall with ACO algorithm is proposed. The proposed algorithm showed better results with less time complexity, when applied on randomly structured points within a boundary called quasi-structured points. In addition, this paper also discusses the future works of integrating Floyd-Warshall with ACO to develop a real-time model for overcoming above mentioned-challenges during transportation route planning.

Artificial Intelligence of Things (AIoT) is an emerging frontier based on the deep fusion of Internet of Things (IoT) and Artificial Intelligence (AI) technologies. Although advanced deep learning techniques enhance the efficient data processing and intelligent analysis of complex IoT data, they still suffer from notable challenges when deployed to practical AIoT applications, such as constrained resources, and diverse task requirements. Knowledge transfer is an effective method to enhance learning performance by avoiding the exorbitant costs associated with data recollection and model retraining. Notably, although there are already some valuable and impressive surveys on transfer learning, these surveys introduce approaches in a relatively isolated way and lack the recent advances of various knowledge transfer techniques for AIoT field. This survey endeavors to introduce a new concept of knowledge transfer, referred to as Crowd Knowledge Transfer (CrowdTransfer), which aims to transfer prior knowledge learned from a crowd of agents to reduce the training cost and as well as improve the performance of the model in real-world complicated scenarios. Particularly, we present four transfer modes from the perspective of crowd intelligence, including derivation, sharing, evolution and fusion modes. Building upon conventional transfer learning methods, we further delve into advanced crowd knowledge transfer models from three perspectives for various AIoT applications. Furthermore, we explore some applications of AIoT areas, such as human activity recognition, urban computing, multi-robot system, and smart factory. Finally, we discuss the open issues and outline future research directions of knowledge transfer in AIoT community.

This paper introduces BI-Directional DEliberation Reasoning (BIDDER), a novel reasoning approach to enhance the decision rationality of language models. Traditional reasoning methods typically rely on historical information and employ uni-directional (left-to-right) reasoning strategy. This lack of bi-directional deliberation reasoning results in limited awareness of potential future outcomes and insufficient integration of historical context, leading to suboptimal decisions. BIDDER addresses this gap by incorporating principles of rational decision-making, specifically managing uncertainty and predicting expected utility. Our approach involves three key processes: Inferring hidden states to represent uncertain information in the decision-making process from historical data; Using these hidden states to predict future potential states and potential outcomes; Integrating historical information (past contexts) and long-term outcomes (future contexts) to inform reasoning. By leveraging bi-directional reasoning, BIDDER ensures thorough exploration of both past and future contexts, leading to more informed and rational decisions. We tested BIDDER's effectiveness in two well-defined scenarios: Poker (Limit Texas Hold'em) and Negotiation. Our experiments demonstrate that BIDDER significantly improves the decision-making capabilities of LLMs and LLM agents.