Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement learning (RL), have shown promise in specific scenarios, RL planners struggle with training inefficiencies and managing large-scale, real-world driving scenarios. In this paper, we introduce \textbf{CarPlanner}, a \textbf{C}onsistent \textbf{a}uto-\textbf{r}egressive \textbf{Planner} that uses RL to generate multi-modal trajectories. The auto-regressive structure enables efficient large-scale RL training, while the incorporation of consistency ensures stable policy learning by maintaining coherent temporal consistency across time steps. Moreover, CarPlanner employs a generation-selection framework with an expert-guided reward function and an invariant-view module, simplifying RL training and enhancing policy performance. Extensive analysis demonstrates that our proposed RL framework effectively addresses the challenges of training efficiency and performance enhancement, positioning CarPlanner as a promising solution for trajectory planning in autonomous driving. To the best of our knowledge, we are the first to demonstrate that the RL-based planner can surpass both IL- and rule-based state-of-the-arts (SOTAs) on the challenging large-scale real-world dataset nuPlan. Our proposed CarPlanner surpasses RL-, IL-, and rule-based SOTA approaches within this demanding dataset.

Data-centric AI focuses on understanding and utilizing high-quality, relevant data in training machine learning (ML) models, thereby increasing the likelihood of producing accurate and useful results. Automatic feature augmentation, aiming to augment the initial base table with useful features from other tables, is critical in data preparation as it improves model performance, robustness, and generalizability. While recent works have investigated automatic feature augmentation, most of them have limited capabilities in utilizing all useful features as many of them are in candidate tables not directly joinable with the base table. Worse yet, with numerous join paths leading to these distant features, existing solutions fail to fully exploit them within a reasonable compute budget. We present FeatNavigator, an effective and efficient framework that explores and integrates high-quality features in relational tables for ML models. FeatNavigator evaluates a feature from two aspects: (1) the intrinsic value of a feature towards an ML task (i.e., feature importance) and (2) the efficacy of a join path connecting the feature to the base table (i.e., integration quality). FeatNavigator strategically selects a small set of available features and their corresponding join paths to train a feature importance estimation model and an integration quality prediction model. Furthermore, FeatNavigator's search algorithm exploits both estimated feature importance and integration quality to identify the optimized feature augmentation plan. Our experimental results show that FeatNavigator outperforms state-of-the-art solutions on five public datasets by up to 40.1% in ML model performance.

We consider convex optimization with non-smooth objective function and log-concave sampling with non-smooth potential (negative log density). In particular, we study two specific settings where the convex objective/potential function is either semi-smooth or in composite form as the finite sum of semi-smooth components. To overcome the challenges caused by non-smoothness, our algorithms employ two powerful proximal frameworks in optimization and sampling: the proximal point framework for optimization and the alternating sampling framework (ASF) that uses Gibbs sampling on an augmented distribution. A key component of both optimization and sampling algorithms is the efficient implementation of the proximal map by the regularized cutting-plane method. We establish the iteration-complexity of the proximal map in both semi-smooth and composite settings. We further propose an adaptive proximal bundle method for non-smooth optimization. The proposed method is universal since it does not need any problem parameters as input. Additionally, we develop a proximal sampling oracle that resembles the proximal map in optimization and establish its complexity using a novel technique (a modified Gaussian integral). Finally, we combine this proximal sampling oracle and ASF to obtain a Markov chain Monte Carlo method with non-asymptotic complexity bounds for sampling in semi-smooth and composite settings.

We study the rate at which the initial and current random variables become independent along a Markov chain, focusing on the Langevin diffusion in continuous time and the Unadjusted Langevin Algorithm (ULA) in discrete time. We measure the dependence between random variables via their mutual information. For the Langevin diffusion, we show the mutual information converges to $0$ exponentially fast when the target is strongly log-concave, and at a polynomial rate when the target is weakly log-concave. These rates are analogous to the mixing time of the Langevin diffusion under similar assumptions. For the ULA, we show the mutual information converges to $0$ exponentially fast when the target is strongly log-concave and smooth. We prove our results by developing the mutual version of the mixing time analyses of these Markov chains. We also provide alternative proofs based on strong data processing inequalities for the Langevin diffusion and the ULA, and by showing regularity results for these processes in mutual information.

This paper proposes a stochastic proximal point method to solve a stochastic convex composite optimization problem. High probability results in stochastic optimization typically hinge on restrictive assumptions on the stochastic gradient noise, for example, sub-Gaussian distributions. Assuming only weak conditions such as bounded variance of the stochastic gradient, this paper establishes a low sample complexity to obtain a high probability guarantee on the convergence of the proposed method. Additionally, a notable aspect of this work is the development of a subroutine to solve the proximal subproblem, which also serves as a novel technique for variance reduction.

Microsurgery involves the dexterous manipulation of delicate tissue or fragile structures such as small blood vessels, nerves, etc., under a microscope. To address the limitation of imprecise manipulation of human hands, robotic systems have been developed to assist surgeons in performing complex microsurgical tasks with greater precision and safety. However, the steep learning curve for robot-assisted microsurgery (RAMS) and the shortage of well-trained surgeons pose significant challenges to the widespread adoption of RAMS. Therefore, the development of a versatile training system for RAMS is necessary, which can bring tangible benefits to both surgeons and patients. In this paper, we present a Tactile Internet-Based Micromanipulation System (TIMS) based on a ROS-Django web-based architecture for microsurgical training. This system can provide tactile feedback to operators via a wearable tactile display (WTD), while real-time data is transmitted through the internet via a ROS-Django framework. In addition, TIMS integrates haptic guidance to `guide' the trainees to follow a desired trajectory provided by expert surgeons. Learning from demonstration based on Gaussian Process Regression (GPR) was used to generate the desired trajectory. User studies were also conducted to verify the effectiveness of our proposed TIMS, comparing users' performance with and without tactile feedback and/or haptic guidance.

In existing splicing forgery datasets, the insufficient semantic varieties of spliced regions cause a problem that trained detection models overfit semantic features rather than splicing traces. Meanwhile, because of the absence of a reasonable dataset, different detection methods proposed cannot reach a consensus on experimental settings. To address these urgent issues, GreatSplicing, a manually created splicing dataset with a considerable amount and high quality, is proposed in this paper. GreatSplicing comprises 5,000 spliced images and covers spliced regions with 335 distinct semantic categories, allowing neural networks to grasp splicing traces better. Extensive experiments demonstrate that models trained on GreatSplicing exhibit minimal misidentification rates and superior cross-dataset detection capabilities compared to existing datasets. Furthermore, GreatSplicing is available for all research purposes and can be downloaded from www.greatsplicing.net.

Monitoring drivers' mental workload facilitates initiating and maintaining safe interactions with in-vehicle information systems, and thus delivers adaptive human machine interaction with reduced impact on the primary task of driving. In this paper, we tackle the problem of workload estimation from driving performance data. First, we present a novel on-road study for collecting subjective workload data via a modified peripheral detection task in naturalistic settings. Key environmental factors that induce a high mental workload are identified via video analysis, e.g. junctions and behaviour of vehicle in front. Second, a supervised learning framework using state-of-the-art time series classifiers (e.g. convolutional neural network and transform techniques) is introduced to profile drivers based on the average workload they experience during a journey. A Bayesian filtering approach is then proposed for sequentially estimating, in (near) real-time, the driver's instantaneous workload. This computationally efficient and flexible method can be easily personalised to a driver (e.g. incorporate their inferred average workload profile), adapted to driving/environmental contexts (e.g. road type) and extended with data streams from new sources. The efficacy of the presented profiling and instantaneous workload estimation approaches are demonstrated using the on-road study data, showing $F_{1}$ scores of up to 92% and 81%, respectively.

We study sampling problems associated with potentials that lack smoothness. The potentials can be either convex or non-convex. Departing from the standard smooth setting, the potentials are only assumed to be weakly smooth or non-smooth, or the summation of multiple such functions. We develop a sampling algorithm that resembles proximal algorithms in optimization for this challenging sampling task. Our algorithm is based on a special case of Gibbs sampling known as the alternating sampling framework (ASF). The key contribution of this work is a practical realization of the ASF based on rejection sampling for both non-convex and convex potentials that are not necessarily smooth. In almost all the cases of sampling considered in this work, our proximal sampling algorithm achieves better complexity than all existing methods.

Timeseries analytics is of great importance in many real-world applications. Recently, the Transformer model, popular in natural language processing, has been leveraged to learn high quality feature embeddings from timeseries, core to the performance of various timeseries analytics tasks. However, the quadratic time and space complexities limit Transformers' scalability, especially for long timeseries. To address these issues, we develop a timeseries analytics tool, RITA, which uses a novel attention mechanism, named group attention, to address this scalability issue. Group attention dynamically clusters the objects based on their similarity into a small number of groups and approximately computes the attention at the coarse group granularity. It thus significantly reduces the time and space complexity, yet provides a theoretical guarantee on the quality of the computed attention. The dynamic scheduler of RITA continuously adapts the number of groups and the batch size in the training process, ensuring group attention always uses the fewest groups needed to meet the approximation quality requirement. Extensive experiments on various timeseries datasets and analytics tasks demonstrate that RITA outperforms the state-of-the-art in accuracy and is significantly faster -- with speedups of up to 63X.