Multi-agent systems outperform single agent in complex collaborative tasks. However, in large-scale scenarios, ensuring timely information exchange during decentralized task execution remains a challenge. This work presents an online decentralized coordination scheme for multi-agent systems under complex local tasks and intermittent communication constraints. Unlike existing strategies that enforce all-time or intermittent connectivity, our approach allows agents to join or leave communication networks at aperiodic intervals, as deemed optimal by their online task execution. This scheme concurrently determines local plans and refines the communication strategy, i.e., where and when to communicate as a team. A decentralized potential game is modeled among agents, for which a Nash equilibrium is generated iteratively through online local search. It guarantees local task completion and intermittent communication constraints. Extensive numerical simulations are conducted against several strong baselines.

Multimodal semantic understanding often has to deal with uncertainty, which means the obtained messages tend to refer to multiple targets. Such uncertainty is problematic for our interpretation, including inter- and intra-modal uncertainty. Little effort has studied the modeling of this uncertainty, particularly in pre-training on unlabeled datasets and fine-tuning in task-specific downstream datasets. In this paper, we project the representations of all modalities as probabilistic distributions via a Probability Distribution Encoder (PDE) by utilizing sequence-level interactions. Compared to the existing deterministic methods, such uncertainty modeling can convey richer multimodal semantic information and more complex relationships. Furthermore, we integrate uncertainty modeling with popular pre-training frameworks and propose suitable pre-training tasks: Distribution-based Vision-Language Contrastive learning (D-VLC), Distribution-based Masked Language Modeling (D-MLM), and Distribution-based Image-Text Matching (D-ITM). The fine-tuned models are applied to challenging downstream tasks, including image-text retrieval, visual question answering, visual reasoning, and visual entailment, and achieve state-of-the-art results.

We propose a new paradigm for universal information extraction (IE) that is compatible with any schema format and applicable to a list of IE tasks, such as named entity recognition, relation extraction, event extraction and sentiment analysis. Our approach converts the text-based IE tasks as the token-pair problem, which uniformly disassembles all extraction targets into joint span detection, classification and association problems with a unified extractive framework, namely UniEX. UniEX can synchronously encode schema-based prompt and textual information, and collaboratively learn the generalized knowledge from pre-defined information using the auto-encoder language models. We develop a traffine attention mechanism to integrate heterogeneous factors including tasks, labels and inside tokens, and obtain the extraction target via a scoring matrix. Experiment results show that UniEX can outperform generative universal IE models in terms of performance and inference-speed on $14$ benchmarks IE datasets with the supervised setting. The state-of-the-art performance in low-resource scenarios also verifies the transferability and effectiveness of UniEX.

Named-entity recognition (NER) detects texts with predefined semantic labels and is an essential building block for natural language processing (NLP). Notably, recent NER research focuses on utilizing massive extra data, including pre-training corpora and incorporating search engines. However, these methods suffer from high costs associated with data collection and pre-training, and additional training process of the retrieved data from search engines. To address the above challenges, we completely frame NER as a machine reading comprehension (MRC) problem, called NER-to-MRC, by leveraging MRC with its ability to exploit existing data efficiently. Several prior works have been dedicated to employing MRC-based solutions for tackling the NER problem, several challenges persist: i) the reliance on manually designed prompts; ii) the limited MRC approaches to data reconstruction, which fails to achieve performance on par with methods utilizing extensive additional data. Thus, our NER-to-MRC conversion consists of two components: i) transform the NER task into a form suitable for the model to solve with MRC in a efficient manner; ii) apply the MRC reasoning strategy to the model. We experiment on 6 benchmark datasets from three domains and achieve state-of-the-art performance without external data, up to 11.24% improvement on the WNUT-16 dataset.

Nowadays, foundation models become one of fundamental infrastructures in artificial intelligence, paving ways to the general intelligence. However, the reality presents two urgent challenges: existing foundation models are dominated by the English-language community; users are often given limited resources and thus cannot always use foundation models. To support the development of the Chinese-language community, we introduce an open-source project, called Fengshenbang, which leads by the research center for Cognitive Computing and Natural Language (CCNL). Our project has comprehensive capabilities, including large pre-trained models, user-friendly APIs, benchmarks, datasets, and others. We wrap all these in three sub-projects: the Fengshenbang Model, the Fengshen Framework, and the Fengshen Benchmark. An open-source roadmap, Fengshenbang, aims to re-evaluate the open-source community of Chinese pre-trained large-scale models, prompting the development of the entire Chinese large-scale model community. We also want to build a user-centered open-source ecosystem to allow individuals to access the desired models to match their computing resources. Furthermore, we invite companies, colleges, and research institutions to collaborate with us to build the large-scale open-source model-based ecosystem. We hope that this project will be the foundation of Chinese cognitive intelligence.

Safety is crucial for robotic missions within an uncertain environment. Common safety requirements such as collision avoidance are only state-dependent, which can be restrictive for complex missions. In this work, we address a more general formulation as safe-return constraints, which require the existence of a return-policy to drive the system back to a set of safe states with high probability. The robot motion is modeled as a Markov Decision Process (MDP) with probabilistic labels, which can be highly non-ergodic. The robotic task is specified as Linear Temporal Logic (LTL) formulas over these labels, such as surveillance and transportation. We first provide theoretical guarantees on the re-formulation of such safe-return constraints, and a baseline solution based on computing two complete product automata. Furthermore, to tackle the computational complexity, we propose a hierarchical planning algorithm that combines the feature-based symbolic and temporal abstraction with constrained optimization. It synthesizes simultaneously two dependent motion policies: the outbound policy minimizes the overall cost of satisfying the task with a high probability, while the return policy ensures the safe-return constraints. The problem formulation is versatile regarding the robot model, task specifications and safety constraints. The proposed hierarchical algorithm is more efficient and can solve much larger problems than the baseline solution, with only a slight loss of optimality. Numerical validations include simulations and hardware experiments of a search-and-rescue mission and a planetary exploration mission over various system sizes.

The latent world model provides a promising way to learn policies in a compact latent space for tasks with high-dimensional observations, however, its generalization across diverse environments with unseen dynamics remains challenging. Although the recurrent structure utilized in current advances helps to capture local dynamics, modeling only state transitions without an explicit understanding of environmental context limits the generalization ability of the dynamics model. To address this issue, we propose a Prototypical Context-Aware Dynamics (ProtoCAD) model, which captures the local dynamics by time consistent latent context and enables dynamics generalization in high-dimensional control tasks. ProtoCAD extracts useful contextual information with the help of the prototypes clustered over batch and benefits model-based RL in two folds: 1) It utilizes a temporally consistent prototypical regularizer that encourages the prototype assignments produced for different time parts of the same latent trajectory to be temporally consistent instead of comparing the features; 2) A context representation is designed which combines both the projection embedding of latent states and aggregated prototypes and can significantly improve the dynamics generalization ability. Extensive experiments show that ProtoCAD surpasses existing methods in terms of dynamics generalization. Compared with the recurrent-based model RSSM, ProtoCAD delivers 13.2% and 26.7% better mean and median performance across all dynamics generalization tasks. Latent world models (Ha & Schmidhuber, 2018) summarize an agent's experience from highdimensional observations to facilitate learning complex behaviors in a compact latent space. Current advances (Hafner et al., 2019; 2020; Deng et al., 2022) leverage Recurrent Neural Networks (RNNs) to extract historical information from high-dimensional observations as compact latent representations and enable imagination in the latent space. However, modeling only latent state transitions without an explicit understanding of the environmental context characteristics limits the dynamics generalization ability of the world model. Since the changes in dynamics are not observable and can only be inferred from the observation sequence, for tasks with high-dimensional sensor inputs, dynamics generalization remains challenging.

It is expected that by 2050, the application of this technology can reduce vehicle emissions by 50%, and the road traffic casualty rate will be close to zero [1]. For industry players, the main testing method is the real vehicle road test. However, Kalra et al. [2] of RAND Corporation conclude that at the 95% confidence level, road testing of more than 14.2 billion km is required to prove that the fatality rate of autonomous vehicles is 20% lower than that of human drivers. Therefore, virtual testing will be the primary way of validation and verification of autonomous vehicles. Reinforcement Learning (RL) agents learn by interacting with the environment, adjust their policy by obtaining rewards, and maximize the reward function by balancing exploration and exploitation, expecting to find the optimal policy corresponding to the maximum cumulative reward [3]. Deep Reinforcement Learning (DRL), combining the perception capability of Deep Learning (DL) and the decision-making capability of RL [4], is suitable for solving the autonomous driving decision-making problem, which is a typical application of timeseries decisions in a complex environment. Many existing studies apply DRL to the intersection [5], lane changing [6], [7] scenarios, etc. Still, to the best of our knowledge, there is no standardized system for training and testing scenarios, evaluation metrics, and baseline methods performance comparisons.

Existing model-based value expansion methods typically leverage a world model for value estimation with a fixed rollout horizon to assist policy learning. However, the fixed rollout with an inaccurate model has a potential to harm the learning process. In this paper, we investigate the idea of using the model knowledge for value expansion adaptively. We propose a novel method called Dynamic-horizon Model-based Value Expansion (DMVE) to adjust the world model usage with different rollout horizons. Inspired by reconstruction-based techniques that can be applied for visual data novelty detection, we utilize a world model with a reconstruction module for image feature extraction, in order to acquire more precise value estimation. The raw and the reconstructed images are both used to determine the appropriate horizon for adaptive value expansion. On several benchmark visual control tasks, experimental results show that DMVE outperforms all baselines in sample efficiency and final performance, indicating that DMVE can achieve more effective and accurate value estimation than state-of-the-art model-based methods.

Autonomous driving decision-making is a great challenge due to the complexity and uncertainty of the traffic environment. Combined with the rule-based constraints, a Deep Q-Network (DQN) based method is applied for autonomous driving lane change decision-making task in this study. Through the combination of high-level lateral decision-making and low-level rule-based trajectory modification, a safe and efficient lane change behavior can be achieved. With the setting of our state representation and reward function, the trained agent is able to take appropriate actions in a real-world-like simulator. The generated policy is evaluated on the simulator for 10 times, and the results demonstrate that the proposed rule-based DQN method outperforms the rule-based approach and the DQN method.