Barrier-Enhanced Homotopic Parallel Trajectory Optimization for Safety-Critical Autonomous Driving

Enforcing safety while preventing overly conservative behaviors is essential for autonomous vehicles to achieve high task performance. In this paper, we propose a barrier-enhanced homotopic parallel trajectory optimization (BHPTO) approach with over-relaxed alternating direction method of multipliers (ADMM) for real-time integrated decision-making and planning. To facilitate safety interactions between the ego vehicle (EV) and surrounding vehicles, a spatiotemporal safety module exhibiting bi-convexity is developed on the basis of barrier function. Varying barrier coefficients are adopted for different time steps in a planning horizon to account for the motion uncertainties of surrounding HVs and mitigate conservative behaviors. Additionally, we exploit the discrete characteristics of driving maneuvers to initialize nominal behavior-oriented free-end homotopic trajectories based on reachability analysis, and each trajectory is locally constrained to a specific driving maneuver while sharing the same task objectives. By leveraging the bi-convexity of the safety module and the kinematics of the EV, we formulate the BHPTO as a bi-convex optimization problem. Then constraint transcription and over-relaxed ADMM are employed to streamline the optimization process, such that multiple trajectories are generated in real time with feasibility guarantees. Through a series of experiments, the proposed development demonstrates improved task accuracy, stability, and consistency in various traffic scenarios using synthetic and real-world traffic datasets.

Graph-Mamba: Towards Long-Range Graph Sequence Modeling with Selective State Spaces

Attention mechanisms have been widely used to capture long-range dependencies among nodes in Graph Transformers. Bottlenecked by the quadratic computational cost, attention mechanisms fail to scale in large graphs. Recent improvements in computational efficiency are mainly achieved by attention sparsification with random or heuristic-based graph subsampling, which falls short in data-dependent context reasoning. State space models (SSMs), such as Mamba, have gained prominence for their effectiveness and efficiency in modeling long-range dependencies in sequential data. However, adapting SSMs to non-sequential graph data presents a notable challenge. In this work, we introduce Graph-Mamba, the first attempt to enhance long-range context modeling in graph networks by integrating a Mamba block with the input-dependent node selection mechanism. Specifically, we formulate graph-centric node prioritization and permutation strategies to enhance context-aware reasoning, leading to a substantial improvement in predictive performance. Extensive experiments on ten benchmark datasets demonstrate that Graph-Mamba outperforms state-of-the-art methods in long-range graph prediction tasks, with a fraction of the computational cost in both FLOPs and GPU memory consumption. The code and models are publicly available at https://github.com/bowang-lab/Graph-Mamba.

SWEA: Changing Factual Knowledge in Large Language Models via Subject Word Embedding Altering

Model editing has recently gained widespread attention. Current model editing methods primarily involve modifying model parameters or adding additional modules to the existing model. However, the former causes irreversible damage to LLMs, while the latter incurs additional inference overhead and fuzzy vector matching is not always reliable. To address these issues, we propose an expandable Subject Word Embedding Altering (SWEA) framework, which modifies the representation of subjects and achieve the goal of editing knowledge during the inference stage. SWEA uses precise key matching outside the model and performs reliable subject word embedding altering, thus protecting the original weights of the model without increasing inference overhead. We then propose optimizing then suppressing fusion method, which first optimizes the embedding vector for the editing target and then suppresses the Knowledge Embedding Dimension (KED) to obtain the final fused embedding. We thus propose SWEAOS method for editing factual knowledge in LLMs. We demonstrate the state-of-the-art performance of SWEAOS on the COUNTERFACT and zsRE datasets. To further validate the reasoning ability of SWEAOS in editing knowledge, we evaluate it on the more complex RIPPLEEDITS benchmark. The results on two subdatasets demonstrate that our SWEAOS possesses state-of-the-art reasoning ability.

Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles with Limited Communication

This paper investigates a cooperative motion planning problem for large-scale connected autonomous vehicles (CAVs) under limited communications, which addresses the challenges of high communication and computing resource requirements. Our proposed methodology incorporates a parallel optimization algorithm with improved consensus ADMM considering a more realistic locally connected topology network, and time complexity of O(N) is achieved by exploiting the sparsity in the dual update process. To further enhance the computational efficiency, we employ a lightweight evolution strategy for the dynamic connectivity graph of CAVs, and each sub-problem split from the consensus ADMM only requires managing a small group of CAVs. The proposed method implemented with the receding horizon scheme is validated thoroughly, and comparisons with existing numerical solvers and approaches demonstrate the efficiency of our proposed algorithm. Also, simulations on large-scale cooperative driving tasks involving 80 vehicles are performed in the high-fidelity CARLA simulator, which highlights the remarkable computational efficiency, scalability, and effectiveness of our proposed development. Demonstration videos are available at https://henryhcliu.github.io/icadmm_cmp_carla.

A Universal Cooperative Decision-Making Framework for Connected Autonomous Vehicles with Generic Road Topologies

Cooperative decision-making of Connected Autonomous Vehicles (CAVs) presents a longstanding challenge due to its inherent nonlinearity, non-convexity, and discrete characteristics, compounded by the diverse road topologies encountered in real-world traffic scenarios. The majority of current methodologies are only applicable to a single and specific scenario, predicated on scenario-specific assumptions. Consequently, their application in real-world environments is restricted by the innumerable nature of traffic scenarios. In this study, we propose a unified optimization approach that exhibits the potential to address cooperative decision-making problems related to traffic scenarios with generic road topologies. This development is grounded in the premise that the topologies of various traffic scenarios can be universally represented as Directed Acyclic Graphs (DAGs). Particularly, the reference paths and time profiles for all involved CAVs are determined in a fully cooperative manner, taking into account factors such as velocities, accelerations, conflict resolutions, and overall traffic efficiency. The cooperative decision-making of CAVs is approximated as a mixed-integer linear programming (MILP) problem building on the DAGs of road topologies. This favorably facilitates the use of standard numerical solvers and the global optimality can be attained through the optimization. Case studies corresponding to different multi-lane traffic scenarios featuring diverse topologies are scheduled as the test itineraries, and the efficacy of our proposed methodology is corroborated.

U-Mamba: Enhancing Long-range Dependency for Biomedical Image Segmentation

Convolutional Neural Networks (CNNs) and Transformers have been the most popular architectures for biomedical image segmentation, but both of them have limited ability to handle long-range dependencies because of inherent locality or computational complexity. To address this challenge, we introduce U-Mamba, a general-purpose network for biomedical image segmentation. Inspired by the State Space Sequence Models (SSMs), a new family of deep sequence models known for their strong capability in handling long sequences, we design a hybrid CNN-SSM block that integrates the local feature extraction power of convolutional layers with the abilities of SSMs for capturing the long-range dependency. Moreover, U-Mamba enjoys a self-configuring mechanism, allowing it to automatically adapt to various datasets without manual intervention. We conduct extensive experiments on four diverse tasks, including the 3D abdominal organ segmentation in CT and MR images, instrument segmentation in endoscopy images, and cell segmentation in microscopy images. The results reveal that U-Mamba outperforms state-of-the-art CNN-based and Transformer-based segmentation networks across all tasks. This opens new avenues for efficient long-range dependency modeling in biomedical image analysis. The code, models, and data are publicly available at https://wanglab.ai/u-mamba.html.

On the Effectiveness of Unlearning in Session-Based Recommendation

Session-based recommendation predicts users' future interests from previous interactions in a session. Despite the memorizing of historical samples, the request of unlearning, i.e., to remove the effect of certain training samples, also occurs for reasons such as user privacy or model fidelity. However, existing studies on unlearning are not tailored for the session-based recommendation. On the one hand, these approaches cannot achieve satisfying unlearning effects due to the collaborative correlations and sequential connections between the unlearning item and the remaining items in the session. On the other hand, seldom work has conducted the research to verify the unlearning effectiveness in the session-based recommendation scenario. In this paper, we propose SRU, a session-based recommendation unlearning framework, which enables high unlearning efficiency, accurate recommendation performance, and improved unlearning effectiveness in session-based recommendation. Specifically, we first partition the training sessions into separate sub-models according to the similarity across the sessions, then we utilize an attention-based aggregation layer to fuse the hidden states according to the correlations between the session and the centroid of the data in the sub-model. To improve the unlearning effectiveness, we further propose three extra data deletion strategies, including collaborative extra deletion (CED), neighbor extra deletion (NED), and random extra deletion (RED). Besides, we propose an evaluation metric that measures whether the unlearning sample can be inferred after the data deletion to verify the unlearning effectiveness. We implement SRU with three representative session-based recommendation models and conduct experiments on three benchmark datasets. Experimental results demonstrate the effectiveness of our methods.

Improving Factual Error Correction by Learning to Inject Factual Errors

Factual error correction (FEC) aims to revise factual errors in false claims with minimal editing, making them faithful to the provided evidence. This task is crucial for alleviating the hallucination problem encountered by large language models. Given the lack of paired data (i.e., false claims and their corresponding correct claims), existing methods typically adopt the mask-then-correct paradigm. This paradigm relies solely on unpaired false claims and correct claims, thus being referred to as distantly supervised methods. These methods require a masker to explicitly identify factual errors within false claims before revising with a corrector. However, the absence of paired data to train the masker makes accurately pinpointing factual errors within claims challenging. To mitigate this, we propose to improve FEC by Learning to Inject Factual Errors (LIFE), a three-step distantly supervised method: mask-corrupt-correct. Specifically, we first train a corruptor using the mask-then-corrupt procedure, allowing it to deliberately introduce factual errors into correct text. The corruptor is then applied to correct claims, generating a substantial amount of paired data. After that, we filter out low-quality data, and use the remaining data to train a corrector. Notably, our corrector does not require a masker, thus circumventing the bottleneck associated with explicit factual error identification. Our experiments on a public dataset verify the effectiveness of LIFE in two key aspects: Firstly, it outperforms the previous best-performing distantly supervised method by a notable margin of 10.59 points in SARI Final (19.3% improvement). Secondly, even compared to ChatGPT prompted with in-context examples, LIFE achieves a superiority of 7.16 points in SARI Final.

Debiasing Sequential Recommenders through Distributionally Robust Optimization over System Exposure

Sequential recommendation (SR) models are typically trained on user-item interactions which are affected by the system exposure bias, leading to the user preference learned from the biased SR model not being fully consistent with the true user preference. Exposure bias refers to the fact that user interactions are dependent upon the partial items exposed to the user. Existing debiasing methods do not make full use of the system exposure data and suffer from sub-optimal recommendation performance and high variance. In this paper, we propose to debias sequential recommenders through Distributionally Robust Optimization (DRO) over system exposure data. The key idea is to utilize DRO to optimize the worst-case error over an uncertainty set to safeguard the model against distributional discrepancy caused by the exposure bias. The main challenge to apply DRO for exposure debiasing in SR lies in how to construct the uncertainty set and avoid the overestimation of user preference on biased samples. Moreover, how to evaluate the debiasing effect on biased test set is also an open question. To this end, we first introduce an exposure simulator trained upon the system exposure data to calculate the exposure distribution, which is then regarded as the nominal distribution to construct the uncertainty set of DRO. Then, we introduce a penalty to items with high exposure probability to avoid the overestimation of user preference for biased samples. Finally, we design a debiased self-normalized inverse propensity score (SNIPS) evaluator for evaluating the debiasing effect on the biased offline test set. We conduct extensive experiments on two real-world datasets to verify the effectiveness of the proposed methods. Experimental results demonstrate the superior exposure debiasing performance of proposed methods. Codes and data are available at \url{https://github.com/nancheng58/DebiasedSR_DRO}.

Learning Robust Sequential Recommenders through Confident Soft Labels

Sequential recommenders that are trained on implicit feedback are usually learned as a multi-class classification task through softmax-based loss functions on one-hot class labels. However, one-hot training labels are sparse and may lead to biased training and sub-optimal performance. Dense, soft labels have been shown to help improve recommendation performance. But how to generate high-quality and confident soft labels from noisy sequential interactions between users and items is still an open question. We propose a new learning framework for sequential recommenders, CSRec, which introduces confident soft labels to provide robust guidance when learning from user-item interactions. CSRec contains a teacher module that generates high-quality and confident soft labels and a student module that acts as the target recommender and is trained on the combination of dense, soft labels and sparse, one-hot labels. We propose and compare three approaches to constructing the teacher module: (i) model-level, (ii) data-level, and (iii) training-level. To evaluate the effectiveness and generalization ability of CSRec, we conduct experiments using various state-of-the-art sequential recommendation models as the target student module on four benchmark datasets. Our experimental results demonstrate that CSRec is effective in training better performing sequential recommenders.