SRLM: Human-in-Loop Interactive Social Robot Navigation with Large Language Model and Deep Reinforcement Learning

An interactive social robotic assistant must provide services in complex and crowded spaces while adapting its behavior based on real-time human language commands or feedback. In this paper, we propose a novel hybrid approach called Social Robot Planner (SRLM), which integrates Large Language Models (LLM) and Deep Reinforcement Learning (DRL) to navigate through human-filled public spaces and provide multiple social services. SRLM infers global planning from human-in-loop commands in real-time, and encodes social information into a LLM-based large navigation model (LNM) for low-level motion execution. Moreover, a DRL-based planner is designed to maintain benchmarking performance, which is blended with LNM by a large feedback model (LFM) to address the instability of current text and LLM-driven LNM. Finally, SRLM demonstrates outstanding performance in extensive experiments. More details about this work are available at: https://sites.google.com/view/navi-srlm

AnaMoDiff: 2D Analogical Motion Diffusion via Disentangled Denoising

We present AnaMoDiff, a novel diffusion-based method for 2D motion analogies that is applied to raw, unannotated videos of articulated characters. Our goal is to accurately transfer motions from a 2D driving video onto a source character, with its identity, in terms of appearance and natural movement, well preserved, even when there may be significant discrepancies between the source and driving characters in their part proportions and movement speed and styles. Our diffusion model transfers the input motion via a latent optical flow (LOF) network operating in a noised latent space, which is spatially aware, efficient to process compared to the original RGB videos, and artifact-resistant through the diffusion denoising process even amid dense movements. To accomplish both motion analogy and identity preservation, we train our denoising model in a feature-disentangled manner, operating at two noise levels. While identity-revealing features of the source are learned via conventional noise injection, motion features are learned from LOF-warped videos by only injecting noise with large values, with the stipulation that motion properties involving pose and limbs are encoded by higher-level features. Experiments demonstrate that our method achieves the best trade-off between motion analogy and identity preservation.

Hyperedge Interaction-aware Hypergraph Neural Network

Hypergraphs provide an effective modeling approach for modeling high-order relationships in many real-world datasets. To capture such complex relationships, several hypergraph neural networks have been proposed for learning hypergraph structure, which propagate information from nodes to hyperedges and then from hyperedges back to nodes. However, most existing methods focus on information propagation between hyperedges and nodes, neglecting the interactions among hyperedges themselves. In this paper, we propose HeIHNN, a hyperedge interaction-aware hypergraph neural network, which captures the interactions among hyperedges during the convolution process and introduce a novel mechanism to enhance information flow between hyperedges and nodes. Specifically, HeIHNN integrates the interactions between hyperedges into the hypergraph convolution by constructing a three-stage information propagation process. After propagating information from nodes to hyperedges, we introduce a hyperedge-level convolution to update the hyperedge embeddings. Finally, the embeddings that capture rich information from the interaction among hyperedges will be utilized to update the node embeddings. Additionally, we introduce a hyperedge outlier removal mechanism in the information propagation stages between nodes and hyperedges, which dynamically adjusts the hypergraph structure using the learned embeddings, effectively removing outliers. Extensive experiments conducted on real-world datasets show the competitive performance of HeIHNN compared with state-of-the-art methods.

Mutual Coupling in RIS-Aided Communication: Experimental Validation and Performance Evaluation

This paper explores the mutual coupling in the reconfigurable intelligent surface (RIS)-aided communication. Despite the existence of several mutual coupling-aware models for RIS-aided communication, a notable gap remains due to the lack of experimental validation. This paper bridges this gap by first introducing a novel model training approach based on the 3D full-wave simulation and subsequently validating the obtained model via experimental measurements in a 1-bit quasi-passive RIS prototype operating in the mmWave band. Comparative analyses reveal precision in both the employed mutual coupling-aware model and the assessed model parameters, offering a realistic evaluation of mutual coupling in authentic RIS hardware. Utilizing the validated mutual coupling-aware communication model, we systematically examine the impact of mutual coupling on communication performance by adopting the achievable rate as a performance indicator. Our results reveal that the mutual coupling in RIS exhibits heightened significance with increased RIS amplitude gains and showcases a frequency-dependent effect.

Progressive Neural Compression for Adaptive Image Offloading under Timing Constraints

IoT devices are increasingly the source of data for machine learning (ML) applications running on edge servers. Data transmissions from devices to servers are often over local wireless networks whose bandwidth is not just limited but, more importantly, variable. Furthermore, in cyber-physical systems interacting with the physical environment, image offloading is also commonly subject to timing constraints. It is, therefore, important to develop an adaptive approach that maximizes the inference performance of ML applications under timing constraints and the resource constraints of IoT devices. In this paper, we use image classification as our target application and propose progressive neural compression (PNC) as an efficient solution to this problem. Although neural compression has been used to compress images for different ML applications, existing solutions often produce fixed-size outputs that are unsuitable for timing-constrained offloading over variable bandwidth. To address this limitation, we train a multi-objective rateless autoencoder that optimizes for multiple compression rates via stochastic taildrop to create a compression solution that produces features ordered according to their importance to inference performance. Features are then transmitted in that order based on available bandwidth, with classification ultimately performed using the (sub)set of features received by the deadline. We demonstrate the benefits of PNC over state-of-the-art neural compression approaches and traditional compression methods on a testbed comprising an IoT device and an edge server connected over a wireless network with varying bandwidth.

Initial Task Assignment in Multi-Human Multi-Robot Teams: An Attention-enhanced Hierarchical Reinforcement Learning Approach

Multi-human multi-robot teams (MH-MR) obtain tremendous potential in tackling intricate and massive missions by merging distinct strengths and expertise of individual members. The inherent heterogeneity of these teams necessitates advanced initial task assignment (ITA) methods that align tasks with the intrinsic capabilities of team members from the outset. While existing reinforcement learning approaches show encouraging results, they might fall short in addressing the nuances of long-horizon ITA problems, particularly in settings with large-scale MH-MR teams or multifaceted tasks. To bridge this gap, we propose an attention-enhanced hierarchical reinforcement learning approach that decomposes the complex ITA problem into structured sub-problems, facilitating more efficient allocations. To bolster sub-policy learning, we introduce a hierarchical cross-attribute attention (HCA) mechanism, encouraging each sub-policy within the hierarchy to discern and leverage the specific nuances in the state space that are crucial for its respective decision-making phase. Through an extensive environmental surveillance case study, we demonstrate the benefits of our model and the HCA inside.

Unravel Anomalies: An End-to-end Seasonal-Trend Decomposition Approach for Time Series Anomaly Detection

Traditional Time-series Anomaly Detection (TAD) methods often struggle with the composite nature of complex time-series data and a diverse array of anomalies. We introduce TADNet, an end-to-end TAD model that leverages Seasonal-Trend Decomposition to link various types of anomalies to specific decomposition components, thereby simplifying the analysis of complex time-series and enhancing detection performance. Our training methodology, which includes pre-training on a synthetic dataset followed by fine-tuning, strikes a balance between effective decomposition and precise anomaly detection. Experimental validation on real-world datasets confirms TADNet's state-of-the-art performance across a diverse range of anomalies.

Generating Transferable Adversarial Simulation Scenarios for Self-Driving via Neural Rendering

Self-driving software pipelines include components that are learned from a significant number of training examples, yet it remains challenging to evaluate the overall system's safety and generalization performance. Together with scaling up the real-world deployment of autonomous vehicles, it is of critical importance to automatically find simulation scenarios where the driving policies will fail. We propose a method that efficiently generates adversarial simulation scenarios for autonomous driving by solving an optimal control problem that aims to maximally perturb the policy from its nominal trajectory. Given an image-based driving policy, we show that we can inject new objects in a neural rendering representation of the deployment scene, and optimize their texture in order to generate adversarial sensor inputs to the policy. We demonstrate that adversarial scenarios discovered purely in the neural renderer (surrogate scene) can often be successfully transferred to the deployment scene, without further optimization. We demonstrate this transfer occurs both in simulated and real environments, provided the learned surrogate scene is sufficiently close to the deployment scene.

Multi-Robot Cooperative Socially-Aware Navigation Using Multi-Agent Reinforcement Learning

In public spaces shared with humans, ensuring multi-robot systems navigate without collisions while respecting social norms is challenging, particularly with limited communication. Although current robot social navigation techniques leverage advances in reinforcement learning and deep learning, they frequently overlook robot dynamics in simulations, leading to a simulation-to-reality gap. In this paper, we bridge this gap by presenting a new multi-robot social navigation environment crafted using Dec-POSMDP and multi-agent reinforcement learning. Furthermore, we introduce SAMARL: a novel benchmark for cooperative multi-robot social navigation. SAMARL employs a unique spatial-temporal transformer combined with multi-agent reinforcement learning. This approach effectively captures the complex interactions between robots and humans, thus promoting cooperative tendencies in multi-robot systems. Our extensive experiments reveal that SAMARL outperforms existing baseline and ablation models in our designed environment. Demo videos for this work can be found at: https://sites.google.com/view/samarl

Domestic Activities Classification from Audio Recordings Using Multi-scale Dilated Depthwise Separable Convolutional Network

Domestic activities classification (DAC) from audio recordings aims at classifying audio recordings into pre-defined categories of domestic activities, which is an effective way for estimation of daily activities performed in home environment. In this paper, we propose a method for DAC from audio recordings using a multi-scale dilated depthwise separable convolutional network (DSCN). The DSCN is a lightweight neural network with small size of parameters and thus suitable to be deployed in portable terminals with limited computing resources. To expand the receptive field with the same size of DSCN's parameters, dilated convolution, instead of normal convolution, is used in the DSCN for further improving the DSCN's performance. In addition, the embeddings of various scales learned by the dilated DSCN are concatenated as a multi-scale embedding for representing property differences among various classes of domestic activities. Evaluated on a public dataset of the Task 5 of the 2018 challenge on Detection and Classification of Acoustic Scenes and Events (DCASE-2018), the results show that: both dilated convolution and multi-scale embedding contribute to the performance improvement of the proposed method; and the proposed method outperforms the methods based on state-of-the-art lightweight network in terms of classification accuracy.