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Yishuai Cai, Xinglin Chen, Zhongxuan Cai, Yunxin Mao, Minglong Li, Wenjing Yang, Ji Wang

Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective multi-robot BT planning algorithms remains challenging due to the complexity of coordinating diverse action spaces. We propose the Multi-Robot Behavior Tree Planning (MRBTP) algorithm, with theoretical guarantees of both soundness and completeness. MRBTP features cross-tree expansion to coordinate heterogeneous actions across different BTs to achieve the team's goal. For homogeneous actions, we retain backup structures among BTs to ensure robustness and prevent redundant execution through intention sharing. While MRBTP is capable of generating BTs for both homogeneous and heterogeneous robot teams, its efficiency can be further improved. We then propose an optional plugin for MRBTP when Large Language Models (LLMs) are available to reason goal-related actions for each robot. These relevant actions can be pre-planned to form long-horizon subtrees, significantly enhancing the planning speed and collaboration efficiency of MRBTP. We evaluate our algorithm in warehouse management and everyday service scenarios. Results demonstrate MRBTP's robustness and execution efficiency under varying settings, as well as the ability of the pre-trained LLM to generate effective task-specific subtrees for MRBTP.

Aizierjiang Aiersilan

Motion planning is a crucial component in autonomous driving. State-of-the-art motion planners are trained on meticulously curated datasets, which are not only expensive to annotate but also insufficient in capturing rarely seen critical scenarios. Failing to account for such scenarios poses a significant risk to motion planners and may lead to incidents during testing. An intuitive solution is to manually compose such scenarios by programming and executing a simulator (e.g., CARLA). However, this approach incurs substantial human costs. Motivated by this, we propose an inexpensive method for generating diverse critical traffic scenarios to train more robust motion planners. First, we represent traffic scenarios as scripts, which are then used by the simulator to generate traffic scenarios. Next, we develop a method that accepts user-specified text descriptions, which a Large Language Model translates into scripts using in-context learning. The output scripts are sent to the simulator that produces the corresponding traffic scenarios. As our method can generate abundant safety-critical traffic scenarios, we use them as synthetic training data for motion planners. To demonstrate the value of generated scenarios, we train existing motion planners on our synthetic data, real-world datasets, and a combination of both. Our experiments show that motion planners trained with our data significantly outperform those trained solely on real-world data, showing the usefulness of our synthetic data and the effectiveness of our data generation method.

Yannick Eich, Christian Fabian, Kai Cui, Heinz Koeppl

Mean field games (MFGs) tractably model behavior in large agent populations. The literature on learning MFG equilibria typically focuses on finding Nash equilibria (NE), which assume perfectly rational agents and are hence implausible in many realistic situations. To overcome these limitations, we incorporate bounded rationality into MFGs by leveraging the well-known concept of quantal response equilibria (QRE). Two novel types of MFG QRE enable the modeling of large agent populations where individuals only noisily estimate the true objective. We also introduce a second source of bounded rationality to MFGs by restricting the agents' planning horizon. The resulting novel receding horizon (RH) MFGs are combined with QRE and existing approaches to model different aspects of bounded rationality in MFGs. We formally define MFG QRE and RH MFGs and compare them to existing equilibrium concepts such as entropy-regularized NE. Subsequently, we design generalized fixed point iteration and fictitious play algorithms to learn QRE and RH equilibria. After a theoretical analysis, we give different examples to evaluate the capabilities of our learning algorithms and outline practical differences between the equilibrium concepts.

Hau Chan, Jianan Lin, Zining Qin, Chenhao Wang

Man-made and natural disruptions such as planned constructions on roads, suspensions of bridges, and blocked roads by trees/mudslides/floods can often create obstacles that separate two connected regions. As a result, the traveling and reachability of agents from their respective regions to other regions can be affected. To minimize the impact of the obstacles and maintain agent accessibility, we initiate the problem of constructing a new pathway (e.g., a detour or new bridge) connecting the regions disconnected by obstacles from the mechanism design perspective. In the problem, each agent in their region has a private location and is required to access the other region. The cost of an agent is the distance from their location to the other region via the pathway. Our goal is to design strategyproof mechanisms that elicit truthful locations from the agents and approximately optimize the social or maximum cost of agents by determining locations in the regions for building a pathway. We provide a characterization of all strategyproof and anonymous mechanisms. For the social and maximum costs, we provide upper and lower bounds on the approximation ratios of strategyproof mechanisms.

Yatong Sun, Xiaochun Yang, Zhu Sun, Yan Wang, Bin Wang, Xinghua Qu

Sequential Recommenders (SRs) are trained to predict the next item as the target given its preceding items as the input, assuming every input-target pair is matched and is reliable for training. However, users can be induced by external distractions to click on items inconsistent with their true preferences, resulting in unreliable training instances with mismatched input-target pairs. To resist unreliable data, researchers attempt to develop Robust SRs (RSRs). However, our data analysis unveils that existing RSRs are data-driven. That is, for most instances formed by infrequently co-occurred items, existing RSRs are uncertain about their reliability. To fill this gap, we propose a generic framework -- LLM4RSR (Large Language Models for Robust Sequential Recommendation) to semantically complement data-driven RSRs by correcting uncertain instances into reliable ones based on LLMs' semantic comprehension of items beyond co-occurrence. In this way, RSRs can be re-trained with the corrected data for better accuracy. This is a selective knowledge distillation procedure, where the LLM acts as a teacher guiding student RSRs via uncertain instances. To align LLMs with the data correction task and mitigate inherent hallucinations, we equip the LLM with profile, plan, and memory modules, which are automatically optimized via textual gradient descent, eliminating the need for human effort and expertise. Experiments on four real-world datasets spanning eight backbones verify the generality, effectiveness, and efficiency of LLM4RSR.

Bang An, Xun Zhou, Zirui Zhou, Ronilo Ragodos, Zenglin Xu, Jun Luo

The problem of forecasting spatiotemporal events such as crimes and accidents is crucial to public safety and city management. Besides accuracy, interpretability is also a key requirement for spatiotemporal forecasting models to justify the decisions. Merely presenting predicted scores fails to convince the public and does not contribute to future urban planning. Interpretation of the spatiotemporal forecasting mechanism is, however, challenging due to the complexity of multi-source spatiotemporal features, the non-intuitive nature of spatiotemporal patterns for non-expert users, and the presence of spatial heterogeneity in the data. Currently, no existing deep learning model intrinsically interprets the complex predictive process learned from multi-source spatiotemporal features. To bridge the gap, we propose GeoPro-Net, an intrinsically interpretable spatiotemporal model for spatiotemporal event forecasting problems. GeoPro-Net introduces a novel Geo-concept convolution operation, which employs statistical tests to extract predictive patterns in the input as "Geo-concepts'', and condenses the "Geo-concept-encoded'' input through interpretable channel fusion and geographic-based pooling. In addition, GeoPro-Net learns different sets of prototypes of concepts inherently, and projects them to real-world cases for interpretation. Comprehensive experiments and case studies on four real-world datasets demonstrate that GeoPro-Net provides better interpretability while still achieving competitive prediction performance compared with state-of-the-art baselines.

Jiaxin Liang, Junping Zhou, Minghao Yin

For many real-world problems, users are often interested not only in finding a single solution but in obtaining a sufficiently diverse collection of solutions. In this work, we consider the Diverse SAT problem, aiming to find a set of diverse satisfying assignments for a given propositional formula. We propose a novel and effective local search algorithm, DiverSAT, to solve the problem. To cope with diversity, we introduce three heuristics and a perturbation strategy based on some relevant information. We conduct extensive experiments on a large number of public benchmarks, collected from semiformal hardware verification, logistics planning, and other domains. The results show that DiverSAT outperforms the existing algorithms on most of these benchmarks.

Fuqi Jia, Yuhang Dong, Rui Han, Pei Huang, Minghao Liu, Feifei Ma, Jian Zhang

Optimization Modulo Nonlinear Real Arithmetic, abbreviated as OMT(NRA), generally focuses on optimizing a given objective subject to quantifier-free Boolean combinations of primitive constraints, including Boolean variables, polynomial equations, and inequalities. It is widely applicable in areas like program verification, analysis, planning, and so on. The existing solver, OptiMathSAT, officially supporting OMT(NRA), employs an incomplete algorithm. We present a sound and complete algorithm, Optimization Cylindrical Algebraic Covering (OCAC), integrated within the Conflict-Driven Clause Learning (CDCL) framework, specifically tailored for OMT(NRA) problems. We establish the correctness and termination of CDCL(OCAC) and explore alternative approaches using cylindrical algebraic decomposition (CAD) and first-order formulations. Our work includes the development of the first complete OMT solver for NRA, demonstrating significant performance improvements. In benchmarks generated from SMT-LIB instances, our algorithm finds the optimum value in about 150% more instances compared to the current leading solver, OptiMathSAT.

Xiang Zhang, Yufei Cui, Chenchen Fu, Zihao Wang, Yuyang Sun, Xue Liu, Weiwei Wu

Real-time object detection is critical for the decision-making process for many real-world applications, such as collision avoidance and path planning in autonomous driving. This work presents an innovative real-time streaming perception method, Transtreaming, which addresses the challenge of real-time object detection with dynamic computational delays. The core innovation of Transtreaming lies in its adaptive delay-aware transformer, which can concurrently predict multiple future frames and select the output that best matches the real-world present time, compensating for any system-induced computational delays. The proposed model outperforms existing state-of-the-art methods, even in single-frame detection scenarios, by leveraging a transformer-based methodology. It demonstrates robust performance across a range of devices, from powerful V100 to modest 2080Ti, achieving the highest level of perceptual accuracy on all platforms. Unlike most state-of-the-art methods that struggle to complete computation within a single frame on less powerful devices, Transtreaming meets the stringent real-time processing requirements on all kinds of devices. The experimental results emphasize the system's adaptability and its potential to significantly improve the safety and reliability of many real-world systems, such as autonomous driving.

Haibao Yu, Wenxian Yang, Jiaru Zhong, Zhenwei Yang, Siqi Fan, Ping Luo, Zaiqing Nie

Cooperatively utilizing both ego-vehicle and infrastructure sensor data via V2X communication has emerged as a promising approach for advanced autonomous driving. However, current research mainly focuses on improving individual modules, rather than taking end-to-end learning to optimize final planning performance, resulting in underutilized data potential. In this paper, we introduce UniV2X, a pioneering cooperative autonomous driving framework that seamlessly integrates all key driving modules across diverse views into a unified network. We propose a sparse-dense hybrid data transmission and fusion mechanism for effective vehicle-infrastructure cooperation, offering three advantages: 1) Effective for simultaneously enhancing agent perception, online mapping, and occupancy prediction, ultimately improving planning performance. 2) Transmission-friendly for practical and limited communication conditions. 3) Reliable data fusion with interpretability of this hybrid data. We implement UniV2X, as well as reproducing several benchmark methods, on the challenging DAIR-V2X, the real-world cooperative driving dataset. Experimental results demonstrate the effectiveness of UniV2X in significantly enhancing planning performance, as well as all intermediate output performance.

Ellen Yi-Ge, Leo Shawn

High-quality, pixel-level annotated datasets are crucial for training deep learning models, while their creation is often labor-intensive, time-consuming, and costly. Generative diffusion models have then gained prominence for producing synthetic datasets, yet existing text-to-data methods struggle with generating complex scenes involving multiple objects and intricate spatial arrangements. To address these limitations, we introduce FlexDataset, a framework that pioneers the composition-to-data (C2D) paradigm. FlexDataset generates high-fidelity synthetic datasets with versatile annotations, tailored for tasks like salient object detection, depth estimation, and segmentation. Leveraging a meticulously designed composition-to-image (C2I) framework, it offers precise positional and categorical control. Our Versatile Annotation Generation (VAG) Plan A further enhances efficiency by exploiting rich latent representations through tuned perception decoders, reducing annotation time by nearly fivefold. FlexDataset allows unlimited generation of customized, multi-instance and multi-category (MIMC) annotated data. Extensive experiments show that FlexDataset sets a new standard in synthetic dataset generation across multiple datasets and tasks, including zero-shot and long-tail scenarios.

Yu Yang, Jianbiao Mei, Yukai Ma, Siliang Du, Wenqing Chen, Yijie Qian, Yuxiang Feng, Yong Liu

World models envision potential future states based on various ego actions. They embed extensive knowledge about the driving environment, facilitating safe and scalable autonomous driving. Most existing methods primarily focus on either data generation or the pretraining paradigms of world models. Unlike the aforementioned prior works, we propose Drive-OccWorld, which adapts a vision-centric 4D forecasting world model to end-to-end planning for autonomous driving. Specifically, we first introduce a semantic and motion-conditional normalization in the memory module, which accumulates semantic and dynamic information from historical BEV embeddings. These BEV features are then conveyed to the world decoder for future occupancy and flow forecasting, considering both geometry and spatiotemporal modeling. Additionally, we propose injecting flexible action conditions, such as velocity, steering angle, trajectory, and commands, into the world model to enable controllable generation and facilitate a broader range of downstream applications. Furthermore, we explore integrating the generative capabilities of the 4D world model with end-to-end planning, enabling continuous forecasting of future states and the selection of optimal trajectories using an occupancy-based cost function. Extensive experiments on the nuScenes dataset demonstrate that our method can generate plausible and controllable 4D occupancy, opening new avenues for driving world generation and end-to-end planning.

Yiming Yang, Yueru Luo, Bingkun He, Erlong Li, Zhipeng Cao, Chao Zheng, Shuqi Mei, Zhen Li

Extracting lane topology from perspective views (PV) is crucial for planning and control in autonomous driving. This approach extracts potential drivable trajectories for self-driving vehicles without relying on high-definition (HD) maps. However, the unordered nature and weak long-range perception of the DETR-like framework can result in misaligned segment endpoints and limited topological prediction capabilities. Inspired by the learning of contextual relationships in language models, the connectivity relations in roads can be characterized as explicit topology sequences. In this paper, we introduce Topo2Seq, a novel approach for enhancing topology reasoning via topology sequences learning. The core concept of Topo2Seq is a randomized order prompt-to-sequence learning between lane segment decoder and topology sequence decoder. The dual-decoder branches simultaneously learn the lane topology sequences extracted from the Directed Acyclic Graph (DAG) and the lane graph containing geometric information. Randomized order prompt-to-sequence learning extracts unordered key points from the lane graph predicted by the lane segment decoder, which are then fed into the prompt design of the topology sequence decoder to reconstruct an ordered and complete lane graph. In this way, the lane segment decoder learns powerful long-range perception and accurate topological reasoning from the topology sequence decoder. Notably, topology sequence decoder is only introduced during training and does not affect the inference efficiency. Experimental evaluations on the OpenLane-V2 dataset demonstrate the state-of-the-art performance of Topo2Seq in topology reasoning.

Dejie Yang, Zijing Zhao, Yang Liu

Video procedure planning, i.e., planning a sequence of action steps given the video frames of start and goal states, is an essential ability for embodied AI. Recent works utilize Large Language Models (LLMs) to generate enriched action step description texts to guide action step decoding. Although LLMs are introduced these methods decode the action steps into a closed-set of one-hot vectors, limiting the model's capability of generalizing to new steps or tasks. Additionally, fixed action step descriptions based on world-level commonsense may contain noise in specific instances of visual states. In this paper, we propose PlanLLM, a cross-modal joint learning framework with LLMs for video procedure planning. We propose an LLM-Enhanced Planning module which fully uses the generalization ability of LLMs to produce free-form planning output and to enhance action step decoding. We also propose Mutual Information Maximization module to connect world-level commonsense of step descriptions and sample-specific information of visual states, enabling LLMs to employ the reasoning ability to generate step sequences. With the assistance of LLMs, our method can both closed-set and open vocabulary procedure planning tasks. Our PlanLLM achieves superior performance on three benchmarks, demonstrating the effectiveness of our designs.

Duc-Hai Pham, Duc-Dung Nguyen, Anh Pham, Tuan Ho, Phong Nguyen, Khoi Nguyen, Rang Nguyen

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches, necessitating a huge labeled dataset acquired through expensive LiDAR sensors and meticulous voxel-wise labeling by human annotators. The resource-intensive nature of this annotating process significantly hampers the application and scalability of these methods. We introduce a novel semi-supervised framework to alleviate the dependency on densely annotated data. Our approach leverages 2D foundation models to generate essential 3D scene geometric and semantic cues, facilitating a more efficient training process. Our framework exhibits notable properties: (1) Generalizability, applicable to various 3D semantic scene completion approaches, including 2D-3D lifting and 3D-2D transformer methods. (2) Effectiveness, as demonstrated through experiments on SemanticKITTI and NYUv2, wherein our method achieves up to 85% of the fully-supervised performance using only 10% labeled data. This approach not only reduces the cost and labor associated with data annotation but also demonstrates the potential for broader adoption in camera-based systems for 3D semantic occupancy prediction.

Yiyuan Pan, Yunzhe Xu, Zhe Liu, Hesheng Wang

Humans navigate unfamiliar environments using episodic simulation and episodic memory, which facilitate a deeper understanding of the complex relationships between environments and objects. Developing an imaginative memory system inspired by human mechanisms can enhance the navigation performance of embodied agents in unseen environments. However, existing Vision-and-Language Navigation (VLN) agents lack a memory mechanism of this kind. To address this, we propose a novel architecture that equips agents with a reality-imagination hybrid memory system. This system enables agents to maintain and expand their memory through both imaginative mechanisms and navigation actions. Additionally, we design tailored pre-training tasks to develop the agent's imaginative capabilities. Our agent can imagine high-fidelity RGB images for future scenes, achieving state-of-the-art results in a Success rate weighted by Path Length (SPL).

Xiaotian Pan, Zhaobo Qi, Xin Sun, Yuanrong Xu, Weigang Zhang

Procedure planning in instructional videos, producing a structured and plannable action sequence facilitating the transition from the start to the goal states, has achieved significant progress. The dominant single-branch non-autoregressive planning paradigm guides action sequence generation through action labels, overlooking the limitation of the absence of intermediate visual information. Hence, we introduce the procedure knowledge decoupled distillation strategy to address the above issue. This innovative strategy deliberately lets the teacher model see the real visual information among the start and goal states to enhance its action semantic understanding and relationship modeling ability, producing the potential probability distribution containing the real action class and other action classes that may occur. Accordingly, we introduce a decoupled intermediate information knowledge distillation loss, which comprises single action knowledge distillation and sequence distribution knowledge distillation for the student model. The former improves the student model's precise inference ability for individual actions by transferring knowledge of a single action target category using binary classification loss. Conversely, the latter uses MSE loss to constrain the student model to learn the action sequence probability distribution from the teacher model, thereby enhancing the student model's global planning capability. Extensive experiments on three datasets demonstrate that our strategy can improve the performance of multiple weakly supervised models, achieving promising procedure knowledge modeling ability and plug-and-play flexibility.

Jiancheng Pan, Yanxing Liu, Yuqian Fu, Muyuan Ma, Jiahao Li, Danda Pani Paudel, Luc Van Gool, Xiaomeng Huang

Object detection, particularly open-vocabulary object detection, plays a crucial role in Earth sciences, such as environmental monitoring, natural disaster assessment, and land-use planning. However, existing open-vocabulary detectors, primarily trained on natural-world images, struggle to generalize to remote sensing images due to a significant data domain gap. Thus, this paper aims to advance the development of open-vocabulary object detection in remote sensing community. To achieve this, we first reformulate the task as Locate Anything on Earth (LAE) with the goal of detecting any novel concepts on Earth. We then developed the LAE-Label Engine which collects, auto-annotates, and unifies up to 10 remote sensing datasets creating the LAE-1M — the first large-scale remote sensing object detection dataset with broad category coverage. Using the LAE-1M, we further propose and train the novel LAE-DINO Model, the first open-vocabulary foundation object detector for the LAE task, featuring Dynamic Vocabulary Construction (DVC) and Visual-Guided Text Prompt Learning (VisGT) modules. DVC dynamically constructs vocabulary for each training batch, while VisGT maps visual features to semantic space, enhancing text features. We comprehensively conduct experiments on established remote sensing benchmark DIOR, DOTAv2.0, as well as our newly introduced 80-class LAE-80C benchmark. Results demonstrate the advantages of the LAE-1M dataset and the effectiveness of the LAE-DINO method.

Shuhong Liu, Xiang Chen, Hongming Chen, Quanfeng Xu, Mingrui Li

Reconstruction under adverse rainy conditions poses significant challenges due to reduced visibility and the distortion of visual perception. These conditions can severely impair the quality of geometric maps, which is essential for applications ranging from autonomous planning to environmental monitoring. In response to these challenges, this study introduces the novel task of 3D Reconstruction in Rainy Environments (3DRRE), specifically designed to address the complexities of reconstructing 3D scenes under rainy conditions. To benchmark this task, we construct the HydroViews dataset that comprises a diverse collection of both synthesized and real-world scene images characterized by various intensities of rain streaks and raindrops. Furthermore, we propose DeRainGS, the first 3DGS method tailored for reconstruction in adverse rainy environments. Extensive experiments across a wide range of rain scenarios demonstrate that our method delivers state-of-the-art performance, remarkably outperforming existing occlusion-free methods by a large margin.

Tengpeng Li, Hanli Wang, Xianfei Li, Wenlong Liao, Tao He, Pai Peng

Autonomous driving is a challenging task that requires perceiving and understanding the surrounding environment for safe trajectory planning. While existing vision-based end-to-end models have achieved promising results, these methods are still facing the challenges of vision understanding, decision reasoning and scene generalization. To solve these issues, a generative planning with 3D-vision language pre-training model named GPVL is proposed for end-to-end autonomous driving. The proposed paradigm has two significant aspects. On one hand, a 3D-vision language pre-training module is designed to bridge the gap between visual perception and linguistic understanding in the bird's eye view. On the other hand, a cross-modal language model is introduced to generate reasonable planning with perception and navigation information in an auto-regressive manner. Experiments on the challenging nuScenes dataset demonstrate that the proposed scheme achieves excellent performances compared with state-of-the-art methods. Besides, the proposed GPVL presents strong generalization ability and real-time potential when handling high-level commands in various scenarios. It is believed that the effective, robust and efficient performance of GPVL is crucial for the practical application of future autonomous driving systems.