Robust coordination is critical for effective decision-making in multi-agent systems, especially under partial observability. A central question in Multi-Agent Reinforcement Learning (MARL) is whether to engineer communication protocols or learn them end-to-end. We investigate this dichotomy using embodied world models. We propose and compare two communication strategies for a cooperative task-allocation problem. The first, Learned Direct Communication (LDC), learns a protocol end-to-end. The second, Intention Communication, uses an engineered inductive bias: a compact, learned world model, the Imagined Trajectory Generation Module (ITGM), which uses the agent's own policy to simulate future states. A Message Generation Network (MGN) then compresses this plan into a message. We evaluate these approaches on goal-directed interaction in a grid world, a canonical abstraction for embodied AI problems, while scaling environmental complexity. Our experiments reveal that while emergent communication is viable in simple settings, the engineered, world model-based approach shows superior performance, sample efficiency, and scalability as complexity increases. These findings advocate for integrating structured, predictive models into MARL agents to enable active, goal-driven coordination.

As audio machine learning outcomes are deployed in societally impactful applications, it is important to have a sense of the quality and origins of the data used. Noticing that being explicit about this sense is not trivially rewarded in academic publishing in applied machine learning domains, and neither is included in typical applied machine learning curricula, we present a study into dataset usage connected to the top-5 cited papers at the International Conference on Acoustics, Speech, and Signal Processing (ICASSP). In this, we conduct thorough depth-first analyses towards origins of used datasets, often leading to searches that had to go beyond what was reported in official papers, and ending into unclear or entangled origins. Especially in the current pull towards larger, and possibly generative AI models, awareness of the need for accountability on data provenance is increasing. With this, we call on the community to not only focus on engineering larger models, but create more room and reward for explicitizing the foundations on which such models should be built.

The availability of text or topic classification datasets in the low-resource Marathi language is limited, typically consisting of fewer than 4 target labels, with some achieving nearly perfect accuracy. In this work, we introduce L3Cube-MahaNews, a Marathi text classification corpus that focuses on News headlines and articles. This corpus stands out as the largest supervised Marathi Corpus, containing over 1.05L records classified into a diverse range of 12 categories. To accommodate different document lengths, MahaNews comprises three supervised datasets specifically designed for short text, long documents, and medium paragraphs. The consistent labeling across these datasets facilitates document length-based analysis. We provide detailed data statistics and baseline results on these datasets using state-of-the-art pre-trained BERT models. We conduct a comparative analysis between monolingual and multilingual BERT models, including MahaBERT, IndicBERT, and MuRIL. The monolingual MahaBERT model outperforms all others on every dataset. These resources also serve as Marathi topic classification datasets or models and are publicly available at https://github.com/l3cube-pune/MarathiNLP .

Autonomous systems are increasingly implemented using end-to-end learning-based controllers. Such controllers make decisions that are executed on the real system with images as one of the primary sensing modalities. Deep neural networks form a fundamental building block of such controllers. Unfortunately, the existing neural-network verification tools do not scale to inputs with thousands of dimensions -- especially when the individual inputs (such as pixels) are devoid of clear physical meaning. This paper takes a step towards connecting exhaustive closed-loop verification with high-dimensional controllers. Our key insight is that the behavior of a high-dimensional controller can be approximated with several low-dimensional controllers in different regions of the state space. To balance the approximation accuracy and verifiability of our low-dimensional controllers, we leverage the latest verification-aware knowledge distillation. Then, if low-dimensional reachability results are inflated with statistical approximation errors, they yield a high-confidence reachability guarantee for the high-dimensional controller. We investigate two inflation techniques -- based on trajectories and control actions -- both of which show convincing performance in two OpenAI gym benchmarks.

We focus on the problem of LiDAR point cloud based loop detection (or Finding) and closure (LDC) in a multi-agent setting. State-of-the-art (SOTA) techniques directly generate learned embeddings of a given point cloud, require large data transfers, and are not robust to wide variations in 6 Degrees-of-Freedom (DOF) viewpoint. Moreover, absence of strong priors in an unstructured point cloud leads to highly inaccurate LDC. In this original approach, we propose independent roll and pitch canonicalization of the point clouds using a common dominant ground plane. Discretization of the canonicalized point cloud along the axis perpendicular to the ground plane leads to an image similar to Digital Elevation Maps (DEMs), which exposes strong spatial priors in the scene. Our experiments show that LDC based on learnt embeddings of such DEMs is not only data efficient but also significantly more robust, and generalizable than the current SOTA. We report significant performance gain in terms of Average Precision for loop detection and absolute translation/rotation error for relative pose estimation (or loop closure) on Kitti, GPR and Oxford Robot Car over multiple SOTA LDC methods. Our encoder technique allows to compress the original point cloud by over 830 times. To further test the robustness of our technique we create and opensource a custom dataset called Lidar-UrbanFly Dataset (LUF) which consists of point clouds obtained from a LiDAR mounted on a quadrotor.

The use of multilingual language models for tasks in low and high-resource languages has been a success story in deep learning. In recent times, Arabic has been receiving widespread attention on account of its dialectal variance. While prior research studies have tried to adapt these multilingual models for dialectal variants of Arabic, it still remains a challenging problem owing to the lack of sufficient monolingual dialectal data and parallel translation data of such dialectal variants. It remains an open problem on whether the limited dialectical data can be used to improve the models trained in Arabic on its dialectal variants. First, we show that multilingual-BERT (mBERT) incrementally pretrained on Arabic monolingual data takes less training time and yields comparable accuracy when compared to our custom monolingual Arabic model and beat existing models (by an avg metric of +$6.41$). We then explore two continual pre-training methods -- (1) using small amounts of dialectical data for continual finetuning and (2) parallel Arabic to English data and a Translation Language Modeling loss function. We show that both approaches help improve performance on dialectal classification tasks ($+4.64$ avg. gain) when used on monolingual models.

Dr. Shaoshan Liu is CEO and founder of PerceptIn, an intelligent robotics company. Although the world has witnessed tremendous economic growth and technological advancements in the past few decades, today there are still over 600 million people living in extreme poverty. Most of these people live in the least developed countries (LDCs), and while regular visits to our family doctors have become a routine in our daily lives, people who live in LDCs have very limited or even no access to healthcare. When we examine the details of healthcare expenditure data, the numbers are staggering: Developed countries (e.g., the Organization for Economic Co-operation and Development, or OECD countries) such as the U.S. spend roughly 10% of their GDP on healthcare, yet many LDCs don't even have 5% of their GDP to spare on healthcare. Realizing the seriousness of this problem, the United Nations Sustainable Development Goal 3 (SDG 3) has declared a universal health goal to ensure healthy lives and promote well-being for all by 2030.

This document provides a brief description of the National Institute of Standards and Technology (NIST) speaker recognition evaluation (SRE) conversational telephone speech (CTS) Superset. The CTS Superset has been created in an attempt to provide the research community with a large-scale dataset along with uniform metadata that can be used to effectively train and develop telephony (narrowband) speaker recognition systems. It contains a large number of telephony speech segments from more than 6800 speakers with speech durations distributed uniformly in the [10s, 60s] range. The segments have been extracted from the source corpora used to compile prior SRE datasets (SRE1996-2012), including the Greybeard corpus as well as the Switchboard and Mixer series collected by the Linguistic Data Consortium (LDC). In addition to the brief description, we also report speaker recognition results on the NIST 2020 CTS Speaker Recognition Challenge, obtained using a system trained with the CTS Superset. The results will serve as a reference baseline for the challenge.