Canada

We study a variant of the multi-robot goal assignment problem where a unique goal to each robot needs to be assigned while minimizing the largest cost of movement among the robots, called makespan. A significant step in solving this problem is to find the cost associated with the robot-goal pairs, which requires solving a complex path planning problem.  We present OM, a scalable optimal algorithm that solves the multi-robot goal assignment problem by computing the paths for a significantly less number of robot-goal pairs compared to the state-of-the-art algorithms, leading to a computationally superior mechanism to solve the problem. We extensively evaluate our algorithm for hundreds of robots on randomly generated and standard workspaces. Our experimental results demonstrate that the proposed algorithm achieves a noticeable speedup over two state-of-the-art baseline algorithms.

AAAI 2024

Optimal Makespan in a Minute Timespan! A Scalable Multi-Robot Goal Assignment Algorithm for Minimizing Mission Time

rob: multi-robot systems

mas: multiagent planning

rob: motion and path planning

AAMAS (International Conference on Autonomous Agents and Multiagent Systems) is the largest and most influential conference in the area of agents and multiagent systems. The aim of the conference is to bring together researchers and practitioners in all areas of agent technology and to provide a single, high-profile, internationally renowned forum for research in the theory and practice of autonomous agents and multiagent systems. AAMAS is the flagship conference of the non-profit International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS).

The AAMAS conference series was initiated in 2002 in Bologna, Italy as a joint event comprising the 6th International Conference on Autonomous Agents (AA), the 5th International Conference on Multiagent Systems (ICMAS), and the 9th International Workshop on Agent Theories, Architectures, and Languages (ATAL).

Subsequent AAMAS conferences have been held in Melbourne, Australia (July 2003), New York City, NY, USA (July 2004), Utrecht, The Netherlands (July 2005), Hakodate, Japan (May 2006), Honolulu, Hawaii, USA (May 2007), Estoril, Portugal (May 2008), Budapest, Hungary (May 2009), Toronto, Canada (May 2010), Taipei, Taiwan (May 2011), Valencia, Spain (June 2012), Minnesota, USA (May 2013), Paris, France (May 2014), Istanbul, Turkey (May 2015), Singapore (May 2016), São Paulo (2017) and Stockholm, Sweden (2018), Montreal (May 2019), Auckland (May 2020, Virtual), London (May 2021, Virtual).

A ticket is required to attend this event, please register using the link below:

https://aamas2022-conference.auckland.ac.nz/attending/registration/

Registration Is Required

AAMAS 2022

AAMAS (International Conference on Autonomous Agents and Multiagent Systems) is the largest and most influential conference in the area of agents and multiagent systems. The aim of the conference is to bring together researchers and practitioners in all areas of agent technology and to provide a single, high-profile, internationally renowned forum for research in the theory and practice of autonomous agents and multiagent systems. AAMAS is the flagship conference of the non-profit International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS).

technical paper

We are pleased to announce the Thirty-Eighth AAAI Conference on Artificial Intelligence (AAAI-24), which will be held in Vancouver, British Columbia at the Vancouver Convention Centre – West Building from 20-27 February, 2024.

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-24 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

We expect for AAAI-24 to be an in-person conference – one author of all accepted papers will be expected to present work in person unless there are exceptional circumstances that prevent this.

In order to access the AAAI-24 event page you need to register [here](https://aaai.org/aaai-conference/registration/)

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. 

Given a text query, partially relevant video retrieval (PRVR) seeks to find untrimmed videos containing pertinent moments in a database. For PRVR, clip modeling is essential to capture the partial relationship between texts and videos. Current PRVR methods adopt scanning-based clip construction to achieve explicit clip modeling, which is information-redundant and requires a large storage overhead. To solve the efficiency problem of PRVR methods, this paper proposes GMMFormer, a Gaussian-Mixture-Model based Transformer which models clip representations implicitly. During frame interactions, we incorporate Gaussian-Mixture-Model constraints to focus each frame on its adjacent frames instead of the whole video. Then generated representations will contain multi-scale clip information, achieving implicit clip modeling. In addition, PRVR methods ignore semantic differences between text queries relevant to the same video, leading to a sparse embedding space. We propose a query diverse loss to distinguish these text queries, making the embedding space more intensive and contain more semantic information. Extensive experiments on three large-scale video datasets (i.e., TVR, ActivityNet Captions, and Charades-STA) demonstrate the superiority and efficiency of GMMFormer.

GMMFormer: Gaussian-Mixture-Model Based Transformer for Efficient Partially Relevant Video Retrieval

As one of the most popular machine learning tools in the field of unsupervised learning, clustering has been widely used in various practical applications. While numerous methods have been proposed for clustering, a commonly encountered issue is that the existing clustering methods rely heavily on local neighborhood information during the optimization process, which leads to suboptimal performance on real-world datasets. Besides, most existing clustering methods use Euclidean distances or densities to measure the similarity between data points. This could constrain the effectiveness of the algorithms for handling datasets with irregular patterns. Thus, a key challenge is how to effectively capture the global structural information in clustering instances to improve the clustering quality. In this paper, we propose a new clustering algorithm, called SEC. This algorithm uses the global structural information extracted from an encoding tree to guide the clustering optimization process. Based on the relation between data points in the instance, a sparse graph of the clustering instance can be constructed. By leveraging the sparse graph constructed, we propose an iterative encoding tree method, where hierarchical abstractions of the encoding tree are iteratively extracted as new clustering features to obtain better clustering results. To avoid the influence of easily misclustered data points located on the boundaries of the clustering partitions, which we call "fringe points", we propose an iterative pre-deletion and reassignment technique such that the algorithm can delete and reassign the "fringe points" to obtain more resilient and precise clustering results. Empirical experiments on both synthetic and real-world datasets demonstrate that our proposed algorithm outperforms state-of-the-art clustering methods and achieves better clustering performances. On average, the clustering accuracy (ACC) is increased by 1.7% and the normalized mutual information (NMI) by 7.9% compared with the current state-of-the-art (SOTA) algorithm on synthetic datasets. On real-world datasets, our method outperforms other clustering methods with an average increase of 12.3% in ACC and 5.2% in NMI, respectively.

SEC: More Accurate Clustering Algorithm via Structural Entropy

Tooth motion generation is an essential task in digital orthodontic treatment for precise and quick dental healthcare, which aims to generate the whole intermediate tooth motion process given the initial pathological and target ideal tooth alignments. 
Most prior works for multi-agent motion planning problems usually result in complex solutions.
Moreover, the occlusal relationship between upper and lower teeth is often overlooked. 
In this paper, we propose a collaborative tooth motion diffusion model. 
The critical insight is to remodel the problem as a diffusion process. 
In this sense, we model the whole tooth motion distribution with a diffusion model and transform the planning problem into a sampling process from this distribution.
We design a tooth latent representation to provide accurate conditional guides consisting of two key components: the tooth frame represents the position and posture, and the tooth latent shape code represents the geometric morphology. 
Subsequently, we present a collaborative diffusion model to learn the multi-tooth motion distribution based on inter-tooth and occlusal constraints, which are implemented by graph structure and new loss functions, respectively. 
Extensive qualitative and quantitative experiments demonstrate the superiority of our framework in the application of orthodontics compared with state-of-the-art methods.

Collaborative Tooth Motion Diffusion Model in Digital Orthodontics

Dual-lens super-resolution (SR) is a practical scenario for reference (Ref) based SR by utilizing the telephoto image (Ref) to assist the super-resolution of the low-resolution wide-angle image (LR input). Different from general RefSR, the Ref in dual-lens SR only covers the overlapped field of view (FoV) area. However, current dual-lens SR methods rarely utilize these specific characteristics and directly perform dense matching between the LR input and Ref. Due to the resolution gap between LR and Ref, the matching may miss the best-matched candidate and destroy the consistent structures in the overlapped FoV area. Different from them, we propose to first align the Ref with the center region (namely the overlapped FoV area) of the LR input by combining global warping and local warping to make the aligned Ref sharp and consistent. Then, we formulate the aligned Ref and LR center as value-key pairs, and the corner region of the LR is formulated as queries. In this way, we propose a kernel-free matching strategy by matching between the LR-corner (query) and LR-center (key) regions, and the corresponding aligned Ref (value) can be warped to the corner region of the target. Our kernel-free matching strategy avoids the resolution gap between LR and Ref, which makes our network better generalization ability. In addition, we construct a DuSR-Real dataset with (LR, Ref, HR) triples, where the LR and HR are well aligned. Experiments on three datasets demonstrate that our method outperforms the second-best method by a large margin. Our code and dataset are available at https://github.com/Craigie-Hill/KeDuSR.

KeDuSR: Real-World Dual-Lens Super-resolution via Kernel-Free Matching

Cross-Lingual Summarization (CLS) involves generating a summary for a given document in another language. Most of the existing approaches adopt multi-task training and knowledge distillation, which increases the training cost and improves the performance of CLS tasks intuitively but unexplainably. In this work, we propose Cross-Attention Reinforcement (CAR) module and incorporate the module into the transformer backbone to formulate the CAR-Transformer. The CAR module formulates a pseudo summarization policy parameterized by the cross-attention weights reinforced by the ground-truth monolingual summary without introducing extra model parameters. Our approach demonstrates more consistent improvement across CLS tasks compared to traditional multi-task training methods and outperforms the fine-tuned vanilla mBART by 3.67 and the best-performing multi-task training approach by 1.48 in ROUGE-L F1 score on the WikiLingua Korean-to-English CLS task.

CAR-Transformer: Cross-Attention Reinforcement Transformer for Cross-Lingual Summarization

Open-Vocabulary Object Detection (OVOD) aims to detect novel objects beyond a given set of base categories on which the detection model is trained. Recent OVOD methods focus on adapting the image-level pre-trained vision-language models (VLMs), such as CLIP, to a region-level object detection task via, e.g., region-level knowledge distillation, regional prompt learning, or region-text pre-training, to expand the detection vocabulary. These methods have demonstrated remarkable performance in recognizing regional visual concepts, but they are weak in exploiting the VLMs' powerful global scene understanding ability learned from the billion-scale image-level text descriptions. This limits their capability in detecting hard objects of small, blurred, or occluded appearance from novel/base categories, whose detection heavily relies on contextual information. To address this, we propose a novel approach, namely Simple Image-level Classification for Context-Aware Detection Scoring (SIC-CADS), to leverage the superior global knowledge yielded from CLIP for complementing the current OVOD models from a global perspective. The core of SIC-CADS is a multi-modal multi-label recognition (MLR) module that learns the object co-occurrence-based contextual information from CLIP to recognize all possible object categories in the scene. These image-level MLR scores can then be utilized to refine the instance-level detection scores of the current OVOD models in detecting those hard objects. This is verified by extensive empirical results on two popular benchmarks, OV-LVIS and OV-COCO, which show that SIC-CADS achieves significant and consistent improvement when combined with different types of OVOD models. Further, SIC-CADS also improves the cross-dataset generalization ability on Objects365 and OpenImages.

Simple Image-Level Classification Improves Open-Vocabulary Object Detection | VIDEO

Few-shot semantic segmentation (FSS) aims to segment unseen objects in a query image using a few pixel-wise annotated support images, thus expanding the capabilities of semantic segmentation. The main challenge lies in extracting sufficient information from the limited support images to guide the segmentation process. Conventional methods typically address this problem by generating single or multiple prototypes from the support images and calculating their cosine similarity to the query image. However, these methods often fail to capture meaningful information for modeling the de facto joint distribution of pixel and category. Consequently, they result in incomplete segmentation of foreground objects and mis-segmentation of the complex background. To overcome this issue, we propose the Cross Gaussian Mixture Generative Model (CGMGM), a novel Gaussian Mixture Models (GMMs)-based FSS method, which establishes the joint distribution of pixel and category in both the support and query images. Specifically, our method initially matches the feature representations of the query image with those of the support images to generate and refine an initial segmentation mask. It then employs GMMs to accurately model the joint distribution of foreground and background using the support masks and the initial segmentation mask. Subsequently, a parametric decoder utilizes the posterior probability of pixels in the query image, by applying the Bayesian theorem, to the joint distribution, to generate the final segmentation mask. Experimental results on PASCAL-5i and COCO-20i datasets demonstrate our CGMGM's effectiveness and superior performance compared to the state-of-the-art methods.

CGMGM: A Cross-Gaussian Mixture Generative Model for Few-Shot Semantic Segmentation | VIDEO

The Spiking Neural Network (SNN), as one of the biologically inspired neural network infrastructures, has drawn increasing attention recently. It adopts binary spike activations to transmit information, thus the multiplications of activations and weights can be substituted by additions, which brings high energy efficiency. 
    However, in the paper, we theoretically and experimentally prove that the binary spike activation map cannot carry enough information, thus causing information loss and resulting in accuracy decreasing.
    To handle the problem, we propose a ternary spike neuron to transmit information. The ternary spike neuron can also enjoy the event-driven and multiplication-free operation advantages of the binary spike neuron but will boost the information capacity. 
    Furthermore, we also embed a trainable factor in the ternary spike neuron to learn the suitable spike amplitude, thus our SNN will adopt different spike amplitudes along layers, which can better suit the phenomenon that the membrane potential distributions are different along layers.
    To retain the efficiency of the vanilla ternary spike, the trainable ternary spike SNN will be converted to a standard one again via a re-parameterization technique in the inference. 
    Extensive experiments with several popular network structures over static and dynamic datasets show that the ternary spike can consistently outperform state-of-the-art methods.

Ternary Spike: Learning Ternary Spikes for Spiking Neural Networks

Privacy preserving has become increasingly critical with the emergence of social media. Unlearnable examples have been proposed to avoid leaking personal information on the Internet by degrading the generalization abilities of deep learning models. However, our study reveals that unlearnable examples are easily detectable. We provide theoretical results on linear separability of certain unlearnable poisoned dataset and simple network-based detection methods that can identify all existing unlearnable examples, as demonstrated by extensive experiments. Detectability of unlearnable examples with simple networks motivates us to design a novel defense method. We propose using stronger data augmentations coupled with adversarial noises generated by simple networks, to degrade the detectability and thus provide effective defense against unlearnable examples with a lower cost. Adversarial training with large budgets is a widely used defense method on unlearnable examples. We establish quantitative criteria between the poison and adversarial budgets, which determine the existence of robust unlearnable examples or the failure of the adversarial defense.

Detection and Defense of Unlearnable Examples

We consider a decentralized multi-player multi-armed bandit (MP-MAB) problem where  players cannot observe the actions and rewards of other players and no explicit communication or coordination between players is possible.  Prior studies mostly focus on maximizing the sum of rewards of the players over time. However, the total reward maximization learning may lead to imbalanced reward among players, leading to poor Quality of Service (QoS) for some players. In contrast, our objective is to let each player $n$ achieve an expected average reward of at least $\gamma_n$ over time, i.e., achieving a $\gamma_n$ level of QoS. We develop a novel decentralized MP-MAB algorithm to accomplish this objective by leveraging the methodology of randomized matching.  We prove that our decentralized algorithm can ensure that all players have an $O(1)$ QoS regret. We also reveal an analog between our MP-MAB model and the online wireless queuing systems, which builds a connection between QoS in MP-MAB learning and stability in queuing theory.

Downloads

Next from AAAI 2024

GMMFormer: Gaussian-Mixture-Model Based Transformer for Efficient Partially Relevant Video Retrieval

Similar lecture

Planning, Execution, and Adaptation for Multi-Robot Systems using Probabilistic and Temporal Planning

.css-70qvj9{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;}Downloads

Next from AAAI 2024

GMMFormer: Gaussian-Mixture-Model Based Transformer for Efficient Partially Relevant Video Retrieval

Similar lecture

Planning, Execution, and Adaptation for Multi-Robot Systems using Probabilistic and Temporal Planning

Downloads