Time-optimal Point-to-point Motion Planning: A Two-stage Approach

This paper proposes a two-stage approach to formulate the time-optimal point-to-point motion planning problem, involving a first stage with a fixed time grid and a second stage with a variable time grid. The proposed approach brings benefits through its straightforward optimal control problem formulation with a fixed and low number of control steps for manageable computational complexity and the avoidance of interpolation errors associated with time scaling, especially when aiming to reach a distant goal. Additionally, an asynchronous nonlinear model predictive control (NMPC) update scheme is integrated with this two-stage approach to address delayed and fluctuating computation times, facilitating online replanning. The effectiveness of the proposed two-stage approach and NMPC implementation is demonstrated through numerical examples centered on autonomous navigation with collision avoidance.

Online Continual Knowledge Learning for Language Models

Large Language Models (LLMs) serve as repositories of extensive world knowledge, enabling them to perform tasks such as question-answering and fact-checking. However, this knowledge can become obsolete as global contexts change. In this paper, we introduce a novel problem in the realm of continual learning: Online Continual Knowledge Learning (OCKL). This problem formulation aims to manage the dynamic nature of world knowledge in LMs under real-time constraints. We propose a new benchmark and evaluation metric designed to measure both the rate of new knowledge acquisition and the retention of previously learned knowledge. Our empirical evaluation, conducted using a variety of state-of-the-art methods, establishes robust base-lines for OCKL. Our results reveal that existing continual learning approaches are unfortunately insufficient for tackling the unique challenges posed by OCKL. We identify key factors that influence the trade-off between knowledge acquisition and retention, thereby advancing our understanding of how to train LMs in a continually evolving environment.

Harnessing Scalable Transactional Stream Processing for Managing Large Language Models [Vision]

Large Language Models (LLMs) have demonstrated extraordinary performance across a broad array of applications, from traditional language processing tasks to interpreting structured sequences like time-series data. Yet, their effectiveness in fast-paced, online decision-making environments requiring swift, accurate, and concurrent responses poses a significant challenge. This paper introduces TStreamLLM, a revolutionary framework integrating Transactional Stream Processing (TSP) with LLM management to achieve remarkable scalability and low latency. By harnessing the scalability, consistency, and fault tolerance inherent in TSP, TStreamLLM aims to manage continuous & concurrent LLM updates and usages efficiently. We showcase its potential through practical use cases like real-time patient monitoring and intelligent traffic management. The exploration of synergies between TSP and LLM management can stimulate groundbreaking developments in AI and database research. This paper provides a comprehensive overview of challenges and opportunities in this emerging field, setting forth a roadmap for future exploration and development.

SVDE: Scalable Value-Decomposition Exploration for Cooperative Multi-Agent Reinforcement Learning

Value-decomposition methods, which reduce the difficulty of a multi-agent system by decomposing the joint state-action space into local observation-action spaces, have become popular in cooperative multi-agent reinforcement learning (MARL). However, value-decomposition methods still have the problems of tremendous sample consumption for training and lack of active exploration. In this paper, we propose a scalable value-decomposition exploration (SVDE) method, which includes a scalable training mechanism, intrinsic reward design, and explorative experience replay. The scalable training mechanism asynchronously decouples strategy learning with environmental interaction, so as to accelerate sample generation in a MapReduce manner. For the problem of lack of exploration, an intrinsic reward design and explorative experience replay are proposed, so as to enhance exploration to produce diverse samples and filter non-novel samples, respectively. Empirically, our method achieves the best performance on almost all maps compared to other popular algorithms in a set of StarCraft II micromanagement games. A data-efficiency experiment also shows the acceleration of SVDE for sample collection and policy convergence, and we demonstrate the effectiveness of factors in SVDE through a set of ablation experiments.

MolMiner: You only look once for chemical structure recognition

Molecular structures are always depicted as 2D printed form in scientific documents like journal papers and patents. However, these 2D depictions are not machine-readable. Due to a backlog of decades and an increasing amount of these printed literature, there is a high demand for the translation of printed depictions into machine-readable formats, which is known as Optical Chemical Structure Recognition (OCSR). Most OCSR systems developed over the last three decades follow a rule-based approach where the key step of vectorization of the depiction is based on the interpretation of vectors and nodes as bonds and atoms. Here, we present a practical software MolMiner, which is primarily built up using deep neural networks originally developed for semantic segmentation and object detection to recognize atom and bond elements from documents. These recognized elements can be easily connected as a molecular graph with distance-based construction algorithm. We carefully evaluate our software on four benchmark datasets with the state-of-the-art performance. Various real application scenarios are also tested, yielding satisfactory outcomes. The free download links of Mac and Windows versions are available: Mac: https://molminer-cdn.iipharma.cn/pharma-mind/artifact/latest/mac/PharmaMind-mac-latest-setup.dmg and Windows: https://molminer-cdn.iipharma.cn/pharma-mind/artifact/latest/win/PharmaMind-win-latest-setup.exe

Efficient Distributed Framework for Collaborative Multi-Agent Reinforcement Learning

Multi-agent reinforcement learning for incomplete information environments has attracted extensive attention from researchers. However, due to the slow sample collection and poor sample exploration, there are still some problems in multi-agent reinforcement learning, such as unstable model iteration and low training efficiency. Moreover, most of the existing distributed framework are proposed for single-agent reinforcement learning and not suitable for multi-agent. In this paper, we design an distributed MARL framework based on the actor-work-learner architecture. In this framework, multiple asynchronous environment interaction modules can be deployed simultaneously, which greatly improves the sample collection speed and sample diversity. Meanwhile, to make full use of computing resources, we decouple the model iteration from environment interaction, and thus accelerate the policy iteration. Finally, we verified the effectiveness of propose framework in MaCA military simulation environment and the SMAC 3D realtime strategy gaming environment with imcomplete information characteristics.

Safety-guaranteed trajectory planning and control based on GP estimation for unmanned surface vessels

We propose a safety-guaranteed planning and control framework for unmanned surface vessels (USVs), using Gaussian processes (GPs) to learn uncertainties. The uncertainties encountered by USVs, including external disturbances and model mismatches, are potentially state-dependent, time-varying, and hard to capture with constant models. GP is a powerful learning-based tool that can be integrated with a model-based planning and control framework, which employs a Hamilton-Jacobi differential game formulation. Such a combination yields less conservative trajectories and safety-guaranteeing control strategies. We demonstrate the proposed framework in simulations and experiments on a CLEARPATH Heron USV.

A Framework for Fast Polarity Labelling of Massive Data Streams

Many of the existing sentiment analysis techniques are based on supervised learning, and they demand the availability of valuable training datasets to train their models. When dataset freshness is critical, the annotating of high speed unlabelled data streams becomes critical but remains an open problem. In this paper, we propose PLStream, a novel Apache Flink-based framework for fast polarity labelling of massive data streams, like Twitter tweets or online product reviews. We address the associated implementation challenges and propose a list of techniques including both algorithmic improvements and system optimizations. A thorough empirical validation with two real-world workloads demonstrates that PLStream is able to generate high quality labels (almost 80% accuracy) in the presence of high-speed continuous unlabelled data streams (almost 16,000 tuples/sec) without any manual efforts.