Human mobility prediction is crucial for applications ranging from location-based recommendations to urban planning, which aims to forecast users' next location visits based on historical trajectories. Despite the severe long-tailed distribution of locations, the problem of long-tailed mobility prediction remains largely underexplored. Existing long-tailed learning methods primarily focus on rebalancing the skewed distribution at the data, model, or class level, neglecting to exploit the spatiotemporal semantics of locations. To address this gap, we propose the first plug-and-play framework for long-tailed mobility prediction in an exploitation and exploration manner, named \textbf{A}daptive \textbf{LO}cation \textbf{H}ier\textbf{A}rchy learning (ALOHA). First, we construct city-tailored location hierarchy based on Large Language Models (LLMs) by exploiting Maslow's theory of human motivation to design Chain-of-Thought (CoT) prompts that captures spatiotemporal semantics. Second, we optimize the location hierarchy predictions by Gumbel disturbance and node-wise adaptive weights within the hierarchical tree structure. Experiments on state-of-the-art models across six datasets demonstrate the framework's consistent effectiveness and generalizability, which strikes a well balance between head and tail locations. Weight analysis and ablation studies reveal the optimization differences of each component for head and tail locations. Furthermore, in-depth analyses of hierarchical distance and case study demonstrate the effective semantic guidance from the location hierarchy. Our code will be made publicly available.

The rise of Large Language Models~(LLMs) revolutionizes information retrieval, allowing users to obtain required answers through complex instructions within conversations. However, publicly available services remain inadequate in addressing the needs of faculty and students to search campus-specific information. It is primarily due to the LLM's lack of domain-specific knowledge and the limitation of search engines in supporting multilingual and timely scenarios. To tackle these challenges, we introduce ALOHA, a multilingual agent enhanced by hierarchical retrieval for university orientation. We also integrate external APIs into the front-end interface to provide interactive service. The human evaluation and case study show our proposed system has strong capabilities to yield correct, timely, and user-friendly responses to the queries in multiple languages, surpassing commercial chatbots and search engines. The system has been deployed and has provided service for more than 12,000 people.

Recent vision-language foundation models still frequently produce outputs misaligned with their inputs, evidenced by object hallucination in captioning and prompt misalignment in the text-to-image generation model. Recent studies have explored methods for identifying misaligned elements, aiming not only to enhance interpretability but also to improve model performance. However, current approaches primarily rely on large foundation models in a zero-shot manner or fine-tuned models with human annotations, which limits scalability due to significant computational costs. This work proposes a novel approach, dubbed CLIP4DM, for detecting dense misalignments from pre-trained CLIP, specifically focusing on pinpointing misaligned words between image and text. We carefully revamp the gradient-based attribution computation method, enabling negative gradient of individual text tokens to indicate misalignment. We also propose F-CLIPScore, which aggregates misaligned attributions with a global alignment score. We evaluate our method on various dense misalignment detection benchmarks, covering various image and text domains and misalignment types. Our method demonstrates state-of-the-art performance among zero-shot models and competitive performance with fine-tuned models while maintaining superior efficiency. Our qualitative examples show that our method has a unique strength to detect entity-level objects, intangible objects, and attributes that can not be easily detected for existing works. We conduct ablation studies and analyses to highlight the strengths and limitations of our approach. Our code is publicly available at https://github.com/naver-ai/CLIP4DM.

Designing a universal policy architecture that performs well across diverse robots and task configurations remains a key challenge. In this work, we address this by representing robot actions as sequential data and generating actions through autoregressive sequence modeling. Existing autoregressive architectures generate end-effector waypoints sequentially as word tokens in language modeling, which are limited to low-frequency control tasks. Unlike language, robot actions are heterogeneous and often include continuous values -- such as joint positions, 2D pixel coordinates, and end-effector poses -- which are not easily suited for language-based modeling. Based on this insight, we introduce a straightforward enhancement: we extend causal transformers' single-token prediction to support predicting a variable number of tokens in a single step through our Chunking Causal Transformer (CCT). This enhancement enables robust performance across diverse tasks of various control frequencies, greater efficiency by having fewer autoregression steps, and lead to a hybrid action sequence design by mixing different types of actions and using a different chunk size for each action type. Based on CCT, we propose the Autoregressive Policy (ARP) architecture, which solves manipulation tasks by generating hybrid action sequences. We evaluate ARP across diverse robotic manipulation environments, including Push-T, ALOHA, and RLBench, and show that ARP, as a universal architecture, outperforms the environment-specific state-of-the-art in all tested benchmarks, while being more efficient in computation and parameter sizes. Videos of our real robot demonstrations, all source code and the pretrained models of ARP can be found at http://github.com/mlzxy/arp.

Despite recent advances in multimodal pre-training for visual description, state-of-the-art models still produce captions containing errors, such as hallucinating objects not present in a scene. The existing prominent metric for object hallucination, CHAIR, is limited to a fixed set of MS COCO objects and synonyms. In this work, we propose a modernized open-vocabulary metric, ALOHa, which leverages large language models (LLMs) to measure object hallucinations. Specifically, we use an LLM to extract groundable objects from a candidate caption, measure their semantic similarity to reference objects from captions and object detections, and use Hungarian matching to produce a final hallucination score. We show that ALOHa correctly identifies 13.6% more hallucinated objects than CHAIR on HAT, a new gold-standard subset of MS COCO Captions annotated for hallucinations, and 30.8% more on nocaps, where objects extend beyond MS COCO categories. Our code is available at https://davidmchan.github.io/aloha/.

Imitation learning from human demonstrations has shown impressive performance in robotics. However, most results focus on table-top manipulation, lacking the mobility and dexterity necessary for generally useful tasks. In this work, we develop a system for imitating mobile manipulation tasks that are bimanual and require whole-body control. We first present Mobile ALOHA, a low-cost and whole-body teleoperation system for data collection. It augments the ALOHA system with a mobile base, and a whole-body teleoperation interface. Using data collected with Mobile ALOHA, we then perform supervised behavior cloning and find that co-training with existing static ALOHA datasets boosts performance on mobile manipulation tasks. With 50 demonstrations for each task, co-training can increase success rates by up to 90%, allowing Mobile ALOHA to autonomously complete complex mobile manipulation tasks such as sauteing and serving a piece of shrimp, opening a two-door wall cabinet to store heavy cooking pots, calling and entering an elevator, and lightly rinsing a used pan using a kitchen faucet. Project website: https://mobile-aloha.github.io

Distributed learning on edge devices has attracted increased attention with the advent of federated learning (FL). Notably, edge devices often have limited battery and heterogeneous energy availability, while multiple rounds are required in FL for convergence, intensifying the need for energy efficiency. Energy depletion may hinder the training process and the efficient utilization of the trained model. To solve these problems, this letter considers the integration of energy harvesting (EH) devices into a FL network with multi-channel ALOHA, while proposing a method to ensure both low energy outage probability and successful execution of future tasks. Numerical results demonstrate the effectiveness of this method, particularly in critical setups where the average energy income fails to cover the iteration cost. The method outperforms a norm based solution in terms of convergence time and battery level.

Fine manipulation tasks, such as threading cable ties or slotting a battery, are notoriously difficult for robots because they require precision, careful coordination of contact forces, and closed-loop visual feedback. Performing these tasks typically requires high-end robots, accurate sensors, or careful calibration, which can be expensive and difficult to set up. Can learning enable low-cost and imprecise hardware to perform these fine manipulation tasks? We present a low-cost system that performs end-to-end imitation learning directly from real demonstrations, collected with a custom teleoperation interface. Imitation learning, however, presents its own challenges, particularly in high-precision domains: errors in the policy can compound over time, and human demonstrations can be non-stationary. To address these challenges, we develop a simple yet novel algorithm, Action Chunking with Transformers (ACT), which learns a generative model over action sequences. ACT allows the robot to learn 6 difficult tasks in the real world, such as opening a translucent condiment cup and slotting a battery with 80-90% success, with only 10 minutes worth of demonstrations. Project website: https://tonyzhaozh.github.io/aloha/

If you have ever dreamed of earning money from a stellar music career but were concerned you had little talent, don't let that put you off - a man called Alex Mitchell might be able to help. Mr Mitchell is the founder and boss of a website and app called Boomy, which helps its users create their own songs using artificial intelligence (AI) software that does most of the heavy lifting. You choose from a number of genres, click on "create song", and the AI will compose one for you in less than 30 seconds. It swiftly picks the track's key, chords and melody. You can do things such as add or strip-out instruments, change the tempo, adjust the volumes, add echoes, make everything sound brighter or softer, and lay down some vocals.

This paper proposes a multi-agent reinforcement learning based medium access framework for wireless networks. The access problem is formulated as a Markov Decision Process (MDP), and solved using reinforcement learning with every network node acting as a distributed learning agent. The solution components are developed step by step, starting from a single-node access scenario in which a node agent incrementally learns to control MAC layer packet loads for reining in self-collisions. The strategy is then scaled up for multi-node fully-connected scenarios by using more elaborate reward structures. It also demonstrates preliminary feasibility for more general partially connected topologies. It is shown that by learning to adjust MAC layer transmission probabilities, the protocol is not only able to attain theoretical maximum throughput at an optimal load, but unlike classical approaches, it can also retain that maximum throughput at higher loading conditions. Additionally, the mechanism is agnostic to heterogeneous loading while preserving that feature. It is also shown that access priorities of the protocol across nodes can be parametrically adjusted. Finally, it is also shown that the online learning feature of reinforcement learning is able to make the protocol adapt to time-varying loading conditions.