Abstract--Despite over a decade of development, autonomous driving trajectory planning in complex urban environments continues to encounter significant challenges. These challenges include the difficulty in accommodating the multi-modal nature of trajectories, the limitations of the single expert model in managing diverse scenarios, and insufficient consideration of environmental interactions. T o address these issues, this paper introduces the EMoE-Planner, which incorporates three innovative approaches. Firstly, the Explicit MoE (Mixture of Experts) dynamically selects specialized experts based on scenario-specific information through a shared scene router . Secondly, the planner utilizes scene-specific queries to provide multi-modal priors, directing the model's focus towards relevant target areas. Lastly, it enhances the prediction model and loss calculation by considering the interactions between the ego vehicle and other agents, thereby significantly boosting planning performance. Comparative experiments were conducted on the Nuplan dataset against the state-of-the-art methods. The simulation results demonstrate that our model consistently outperforms SOT A models across nearly all test scenarios. Our model is the first pure learning model to achieve performance surpassing rule-based algorithms in almost all Nuplan closed-loop simulations. UTONOMOUS driving trajectory planning has evolved over decades, with rule-based methods [1]-[3] providing fundamental safety assurances via predefined logic and heuristics. However, in complex urban settings, three significant limitations become apparent: (1) The manual construction of rules struggles to accommodate dynamic interactions and abrupt changes in road topology, resulting in unaddressed long-tail scenarios; (2) Rigid trajectory generation fails to mimic the adaptive behaviors of human drivers, such as dynamically adjusting following distances; (3) An exponential increase in maintenance costs arises from the "combinatorial explosion" of accumulating rules. Conversely, data-driven approaches, including imitation learning [4]-[6], address edge cases like extreme weather and complex traffic, capturing human-like driving behaviors from expert data. Reinforcement learning [7], [8] enables dynamic optimization through advanced reward mechanisms. These systems offer lower costs and faster iterations compared to rule-based alternatives.

Defense Minister Gen Nakatani called Saturday for closer defense cooperation among like-minded partners in the Indo-Pacific region in order to strengthen the global rules-based order and -- in an implicit criticism of China -- act as a counter to countries seeking to erode the status quo. The Japanese defense chief used a speech before scores of his counterparts and military brass in Singapore at the Shangri-La Dialogue, Asia's leading security conference, to push for closer cooperation and coordination, "while ensuring openness, inclusiveness and transparency, with an aim of restoring a rules-based international order in the Indo-Pacific region, strengthening accountability and promoting the international public good." Nakatani said the need to unite on defense cooperation was clear, pointing to Russia's invasion of Ukraine -- a violation of the U.N. charter -- and Beijing's moves in the disputed South China Sea, including its decision to openly ignore a 2016 international arbitral tribunal ruling that dismissed the country's claim to most of the strategic waterway.

A significant portion of the textual data used in the field of Natural Language Processing (NLP) exhibits gender biases, particularly due to the use of masculine generics (masculine words that are supposed to refer to mixed groups of men and women), which can perpetuate and amplify stereotypes. Gender rewriting, an NLP task that involves automatically detecting and replacing gendered forms with neutral or opposite forms (e.g., from masculine to feminine), can be employed to mitigate these biases. While such systems have been developed in a number of languages (English, Arabic, Portuguese, German, French), automatic use of gender neutralization techniques (as opposed to inclusive or gender-switching techniques) has only been studied for English. This paper presents GeNRe, the very first French gender-neutral rewriting system using collective nouns, which are gender-fixed in French. We introduce a rule-based system (RBS) tailored for the French language alongside two fine-tuned language models trained on data generated by our RBS. We also explore the use of instruct-based models to enhance the performance of our other systems and find that Claude 3 Opus combined with our dictionary achieves results close to our RBS. Through this contribution, we hope to promote the advancement of gender bias mitigation techniques in NLP for French.

A Pre - Purchase Evaluation and Comparative Study of Solutions from A WS, Google, Azure, John Snow Labs, and Open - Source Models on an Independent Pediatric Dataset Shruti Hegde MS, Mabon Manoj Ninan BS, Jonathan R. Dillman MD, MSc, Shireen Hayatghaibi PhD, Lynn Babcock MD, Elanchezhian Somasundaram PhD Abstract Purpose: General purpose clinical natural language processing tools are increasingly used for the automatic labeling of clinical reports to support various clinical, research and quality improvement applications. However, independent performance evaluations for specific tasks, such as labeling pediatric chest radiograph reports, remain scarce. This study aims to compare four leading commercial clinical NLP systems for entity extraction and assertion detection of clinically relevant findings in pediatric chest radiog raph reports . In addition, the study evaluates two dedicated chest radiograph report labelers, CheXpert and CheXbert, to provide a comprehensive performance comparison of the systems in extracting disease labels defined by CheXpert. Methods: A total of 95,008 pediatric chest radiograph (CXR) reports were obtained from a large academic pediatric hospital for this IRB - waived study. Clinically relevant terms were extracted using four general - purpose clinical NLP systems: Amazon Comprehend Medical (AWS), Google Healthcare NLP (GC), Azure Clinical NLP (AZ), and SparkNLP (SP) from John Snow Labs. After standardization, entities and their assertion statuses (positive, negative, uncertain) from the findings and impression sec tions were analyzed using descriptive statistics, paired t - tests, and Chi - square tests . Entities from the I mpression sections were mapped to 12 disease categories plus a No Findin gs category using a regular expression algorithm. In parallel, CheXpert and CheXbert processed the same reports to extract the same 13 categories (12 disease categories and a No Findings category) . Outputs from all six models were compared using Fleiss' Kappa across the assertion categories .

Process mining aims to discover, monitor and optimize the actual behaviors of real processes. While prior work has mainly focused on extracting procedural action flows from instructional texts, rule flows embedded in business documents remain underexplored. To this end, we introduce a novel annotated Chinese dataset, BPRF, which contains 50 business process documents with 326 explicitly labeled business rules across multiple domains. Each rule is represented as a pair, and we annotate logical dependencies between rules (sequential, conditional, or parallel). We also propose ExIde, a framework for automatic business rule extraction and dependency relationship identification using large language models (LLMs). We evaluate ExIde using 12 state-of-the-art (SOTA) LLMs on the BPRF dataset, benchmarking performance on both rule extraction and dependency classification tasks of current LLMs. Our results demonstrate the effectiveness of ExIde in extracting structured business rules and analyzing their interdependencies for current SOTA LLMs, paving the way for more automated and interpretable business process automation.

Since his first day in office, President Donald Trump has mismanaged negotiations over an end to the war in Ukraine. More than 100 days later, innocent Ukrainians are still dying while the president gets played by Russian President Vladimir Putin – illustrated starkly by the barrages of drones and missiles continually aimed at Ukrainian cities as Trump posts online. It's good to hear Trump finally express some frustration toward Putin and admit that his negotiating tactics aren't working, that, as he says, Putin is "just tapping me along, and has to be dealt with differently." The reasons for this aren't complicated. Instead of increasing his leverage over Russa, Trump offered concession after concession before talks even began.

Developing robust, efficient navigation algorithms is challenging. Rule-based methods offer interpretability and modularity but struggle with learning from large datasets, while end-to-end neural networks excel in learning but lack transparency and modularity. In this paper, we present MIND-Stack, a modular software stack consisting of a localization network and a Stanley Controller with intermediate human interpretable state representations and end-to-end differentiability. Our approach enables the upstream localization module to reduce the downstream control error, extending its role beyond state estimation. Unlike existing research on differentiable algorithms that either lack modules of the autonomous stack to span from sensor input to actuator output or real-world implementation, MIND-Stack offers both capabilities. We conduct experiments that demonstrate the ability of the localization module to reduce the downstream control loss through its end-to-end differentiability while offering better performance than state-of-the-art algorithms. We showcase sim-to-real capabilities by deploying the algorithm on a real-world embedded autonomous platform with limited computation power and demonstrate simultaneous training of both the localization and controller towards one goal. While MIND-Stack shows good results, we discuss the incorporation of additional modules from the autonomous navigation pipeline in the future, promising even greater stability and performance in the next iterations of the framework.

Text-to-image (T2I) models raise ethical and safety concerns due to their potential to generate inappropriate or harmful images. Evaluating these models' security through red-teaming is vital, yet white-box approaches are limited by their need for internal access, complicating their use with closed-source models. Moreover, existing black-box methods often assume knowledge about the model's specific defense mechanisms, limiting their utility in real-world commercial API scenarios. A significant challenge is how to evade unknown and diverse defense mechanisms. To overcome this difficulty, we propose a novel Rule-based Preference modeling Guided Red-Teaming (RPG-RT), which iteratively employs LLM to modify prompts to query and leverages feedback from T2I systems for fine-tuning the LLM. RPG-RT treats the feedback from each iteration as a prior, enabling the LLM to dynamically adapt to unknown defense mechanisms. Given that the feedback is often labeled and coarse-grained, making it difficult to utilize directly, we further propose rule-based preference modeling, which employs a set of rules to evaluate desired or undesired feedback, facilitating finer-grained control over the LLM's dynamic adaptation process. Extensive experiments on nineteen T2I systems with varied safety mechanisms, three online commercial API services, and T2V models verify the superiority and practicality of our approach.

Phishing is a semantic attack which targets the user rather than the computer. It is a new Internet crime in comparison with other forms such as virus and hacking. Considering the damage phishing websites has caused to various economies by collapsing organizations, stealing information and financial diversion, various researchers have embarked on different ways of detecting phishing websites but there has been no agreement about the best algorithm to be used for prediction. This study is interested in integrating the strengths of two algorithms, Support Vector Machines (SVM) and Multi-Class Classification Rules based on Association Rules (MCAR) to establish a strong and better means of predicting phishing websites. A total of 11,056 websites were used from both PhishTank and yahoo directory to verify the effectiveness of this approach. Feature extraction and rules generation were done by the MCAR technique; classification and prediction were done by SVM technique. The result showed that the technique achieved 98.30% classification accuracy with a computation time of 2205.33s with minimum error rate. It showed a total of 98% Area under the Curve (AUC) which showed the proportion of accuracy in classifying phishing websites. The model showed 82.84% variance in the prediction of phishing websites based on the coefficient of determination. The use of two techniques together in detecting phishing websites produced a more accurate result as it combined the strength of both techniques respectively. This research work centralized on this advantage by building a hybrid of two techniques to help produce a more accurate result.

Financial transactions are increasingly being handled by automated programs called smart contracts. However, one challenge in the adaptation of smart contracts is the presence of vulnerabilities, which can cause significant monetary loss.In 2024, 247.88 M was lost in 20 smart contract exploits.According to a recent study, accounting bugs (i.e., incorrect implementations of domain-specific financial models) are the most prevalent type of vulnerability, and are one of the most difficult to find, requiring substantial human efforts.While Large Language Models (LLMs) have shown promise in identifying these bugs, they often suffer from lack of generalization of vulnerability types, hallucinations, and problems with representing smart contracts in limited token context space.This paper proposes a hybrid system combining LLMs and rule-based reasoning to detect accounting error vulnerabilities in smart contracts. In particular, it utilizes the understanding capabilities of LLMs to annotate the financial meaning of variables in smart contracts, and employs rule-based reasoning to propagate the information throughout a contract's logic and to validate potential vulnerabilities.To remedy hallucinations, we propose a feedback loop where validation is performed by providing the reasoning trace of vulnerabilities to the LLM for iterative self-reflection. We achieve 75.6% accuracy on the labelling of financial meanings against human annotations. Furthermore, we achieve a recall of 90.5% from running on 23 real-world smart contract projects containing 21 accounting error vulnerabilities.Finally, we apply the automated technique on 8 recent projects, finding 4 known and 2 unknown bugs.