United States

Robot task planning is an important problem for autonomous robots in long-horizon challenging tasks.
As large pre-trained models have demonstrated superior planning ability, recent research investigates utilizing large models to achieve autonomous planning for robots in diverse tasks. 
However, since the large models are pre-trained with Internet data and lack the knowledge of real task scenes, large models as planners may make unsafe decisions that hurt the robots and the surrounding environments. 
To solve this challenge, we propose a novel Safe Planner framework, which empowers safety awareness in large pre-trained models to accomplish safe and executable planning. 
In this framework, we develop a safety prediction module to guide the high-level large model planner, and this safety module trained in a simulator can be effectively transferred to real-world tasks. 
The proposed Safe Planner framework is evaluated on both simulated environments and real robots. The experiment results demonstrate that Safe Planner not only achieves state-of-the-art task success rates, but also substantially improves safety during task execution. The experiment videos are shown in \url{https://sites.google.com/view/safeplanner}.

AAAI 2025

Safe Planner: Empowering Safety Awareness in Large Pre-Trained Models for Robot Task Planning

The purpose of the AAAI conference is to promote research in artificial intelligence (AI) and scientific exchange among AI researchers, practitioners, scientists, and engineers in affiliated disciplines. 

AAAI 2022

technical paper

We are pleased to announce the Thirty-Ninth AAAI Conference on Artificial Intelligence (AAAI-25), which will be held in Philadelphia, Pennsylvania at the Pennsylvania Convention Center from February 25 to March 4, 2025.

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-25 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.

### [Invited Speakers](https://aaai.org/conference/aaai/aaai-25/aaai-25-invited-speakers/)

Register [here](https://aaai.org/conference/aaai/aaai-25/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. AAAI-25 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.



Learning-based methods provide a promising approach to solving highly non-linear control tasks that are often challenging for classical control methods. To ensure the satisfaction of a safety property, learning-based methods jointly learn a control policy together with a certificate function for the property. Popular examples include barrier functions for safety and Lyapunov functions for asymptotic stability. While there has been significant progress on learning-based control with certificate functions in the white-box setting, where the correctness of the certificate function can be formally verified, there has been little work on ensuring their reliability in the black-box setting where the system dynamics are unknown. In this work, we consider the problems of certifying and repairing neural network control policies and certificate functions in the black-box setting. We propose a novel framework that utilizes runtime monitoring to detect system behaviors that violate the property of interest under some initially trained neural network policy and certificate. These violating behaviors are used to extract new training data, that is used to re-train the neural network policy and the certificate function and to ultimately repair them. We demonstrate the effectiveness of our approach empirically by using it to repair and to boost the safety rate of neural network policies learned by a state-of-the-art method for learning-based control on two autonomous system control tasks.

Neural Control and Certificate Repair via Runtime Monitoring

Offline safe reinforcement learning (OSRL) involves learning a decision-making policy to maximize rewards from a fixed batch of training data to satisfy pre-defined safety constraints. However, adapting to varying safety constraints during deployment without retraining remains an under-explored challenge. To address this challenge, we introduce constraint-adaptive policy switching (CAPS), a wrapper framework around existing offline RL algorithms. During training, CAPS uses offline data to learn multiple policies with a shared representation that optimize different reward and cost trade-offs. During testing, CAPS switches between those policies by selecting at each state the policy that maximizes future rewards among those that satisfy the current cost constraint. Our experiments on 38 tasks from the DSRL benchmark demonstrate that CAPS consistently outperforms existing methods, establishing a strong wrapper-based baseline for OSRL. The code is publicly available at anonymous.4open.science/r/CAPS-EC91.

Constraint-Adaptive Policy Switching for Offline Safe Reinforcement Learning

Generalized planning is concerned with how to find a single plan to solve multiple similar planning instances. Abstractions are widely used for solving generalized planning, and QNP (qualitative numeric planning) is a popular abstract model. Recently, Cui et al. showed that a plan solves a sound and complete abstraction of a generalized planning problem if and only if the refined plan solves the original problem. However, existing work on automatic abstraction for generalized planning can hardly guarantee soundness let alone completeness. In this paper, we propose an automatic sound and complete abstraction method for generalized planning with baggable types. We use a variant of QNP, called bounded QNP (BQNP), where integer variables are increased or decreased by only one. Since BQNP is undecidable, we propose and implement a sound but incomplete solver for BQNP. We present an automatic method to abstract a BQNP problem from a given classical planning instance. The basic idea for abstraction is to introduce a counter for each bag of indistinguishable objects. We show that the BQNP problem got by our automatic method is a sound and complete abstraction for a generalized planning problem whose instances share the same bags of objects with the given instance but the sizes of the bags might be different. Thus, the refined plan of a solution to the BQNP problem is a solution to the generalized planning problem. Finally, we implement our abstraction method and experiments on a number of planning domains demonstrate the promise of our approach.

An Automatic Sound and Complete Abstraction Method for Generalized Planning with Baggable Types

Learning discriminative state representations of agents, encompassing the spatial layout and temporal pose trajectory, is essential for effective navigation decisions. However, existing approaches often rely on simplistic plain networks for navigation information fusion, overlooking the complex long-range dependencies across spatio-temporal cues, which leads to suboptimal state perception and potential decision failures. In this paper, we introduce NaviFormer, an effective encoder-decoder navigation transformer, to aggregate discriminative spatio-temporal context information for object navigation. Our navigation encoder not only encodes spatial layouts and temporal agent poses but also innovatively constructs and encodes a passable frontier map, enriching the original state encoding with cues of potential exploration regions. Furthermore, our navigation decoder employs spatio-temporal self-attention and cross-attention mechanisms to model the dependencies among spatial layout encoding, temporal pose encoding, and passable frontier encoding, thereby facilitating comprehensive contextual state feature aggregation. Finally, we leverage these learned spatio-temporal contextual state representations for PPO-based navigation decisions. Extensive experiments on the Gibson,  Habitat-Matterport3D and Matterport3D datasets demonstrate the superiority of our approach.

NaviFormer: A Spatio-Temporal Context-Aware Transformer for Object Navigation

Complex question answering (QA) is a challenging task in artificial intelligence research which requires reasoning based on related knowledge. The retrieval-augmented generation (RAG) based on large language models (LLMs) have become one promising solution in QA. To facilitate RAG more effectively, the LLM needs to precisely evaluate knowledge required in QA. That is, first, the LLM needs to examine its knowledge boundary (what the LLM does not know) to retrieve external knowledge as supplement. Second, the LLM needs to evaluate the utility of the retrieved knowledge (whether it helps in reasoning) for robust RAG. To this end, in this paper, we propose a novel Question Answering with Knowledge Evaluation (KEQA) framework to promote the effectiveness and efficiency of RAG in QA. First, inspired by quizzes in classroom, we propose a quiz-based method to precisely examine the knowledge state of the uninterpretable LLM for QA. We ask indicative quizzes on each required knowledge, and inspect whether the LLM can consistently answer the quiz to examine its knowledge boundary. Second, we retrieve the unknown knowledge from external source, and evaluate its utility to pick the helpful ones for reasoning. We design a reasoning-based metric to evaluate utility, and construct a demonstration set in training data for reference to guide knowledge picking in inference. We conduct extensive experiments on four widely-used QA datasets, and the results demonstrate the effectiveness of the proposed method.

Explore What LLM Does Not Know in Complex Question Answering

In contemporary e-commerce platforms, search result pages display two types of items: ad items and organic items. Ad items are determined through an advertising auction system, while organic items are selected by a recommendation system. These systems have distinct optimization objectives, creating the challenge of effectively merging these two components. Recent research has explored merging mechanisms for e-commerce platforms, but none have simultaneously achieved all desirable properties: incentive compatibility, individual rationality, adaptability to multiple slots, integration of inseparable candidates, and avoidance of repeated exposure for ads and organic items. This paper addresses the design of a merging mechanism that satisfies all these properties. We first provide the necessary conditions for the optimal merging mechanisms. Next, we introduce two simple and effective mechanisms, termed the generalized fix mechanism and the generalized change mechanism. Finally, we theoretically prove that both mechanisms offer guaranteed competitive ratios compared to the optimal mechanism in both simplest and general settings.

Merging Mechanisms for Ads and Organic Items in E-commerce Platforms

The recent emergence of extreme climate events has significantly raised awareness about sustainable living. In addition to developing energy-saving materials and technologies, existing research mainly relies on traditional methods that encourage behavioral shifts towards sustainability, which can be overly demanding or only passively engaging. In this work, we propose to employ recommendation systems to actively nudge users toward more sustainable choices. We introduce Green Recommender Aligned with Personalized Eating (GRAPE), which is designed to prioritize and recommend sustainable food options that align with users’ evolving preferences. We also design two innovative Green Loss functions that cater to green indicators with either uniform or differentiated priorities, thereby enhancing adaptability across a range of scenarios. Extensive experiments on a real-world dataset demonstrate the effectiveness of our GRAPE.

Bites of Tomorrow: Personalized Recommendations for a Healthier and Greener Plate

Inferring the 3D structure of a scene from a single image is an ill-posed and challenging problem in the field of vision-centric autonomous driving. Existing methods usually employ neural radiance fields to produce voxelized 3D occupancy, lacking instance-level semantic reasoning and temporal photometric consistency. In this paper, we propose ViPOcc, which leverages the visual priors from vision foundation models (VFMs) for fine-grained 3D occupancy prediction. Unlike previous works that solely employ volume rendering for RGB and depth image reconstruction, we introduce a metric depth estimation branch, in which an inverse depth alignment module is proposed to bridge the domain gap in depth distribution between VFM predictions and the ground truth. The recovered metric depth is then utilized in temporal photometric alignment and spatial geometric alignment to ensure accurate and consistent 3D occupancy prediction. Additionally, we also propose a semantic-guided non-overlapping Gaussian mixture sampler for efficient, instance-aware ray sampling, which addresses the redundant and imbalanced sampling issue that still exists in previous state-of-the-arts. Extensive experiments demonstrate the superior performance of ViPOcc in both 3D occupancy prediction and depth estimation tasks on the KITTI-360 and KITTI Raw datasets. Our source code will be released upon publication.

ViPOcc: Leveraging Visual Priors from Vision Foundation Models for Single-View 3D Occupancy Prediction

Multimodal tracking has garnered widespread attention as a result of its ability to effectively address the inherent limitations of traditional RGB tracking. However, existing multimodal trackers mainly focus on the fusion and enhancement of spatial features or merely leverage the sparse temporal relationships between video frames. These approaches do not fully exploit the temporal correlations in multimodal videos, making it difficult to capture the dynamic changes and motion information of targets in complex scenarios. To alleviate this problem, we propose a unified multimodal spatial-temporal tracking approach named STTrack. In contrast to previous paradigms that solely relied on updating reference information, we introduced a temporal state generator (TSG) that continuously generates a sequence of tokens containing multimodal temporal information. These temporal information tokens are used to guide the localization of the target in the next time state, establish long-range contextual relationships between video frames, and capture the temporal trajectory of the target. Furthermore, at the spatial level, we introduced the mamba fusion and background suppression interactive (BSI) modules. These modules establish a dual-stage mechanism for coordinating information interaction and fusion between modalities. Extensive comparisons on five benchmark datasets illustrate that STTrack achieves state-of-the-art performance across various multimodal tracking scenarios.

Exploiting Multimodal Spatial-temporal Patterns for Video Object Tracking

Shared-account Sequential Recommendation (SSR) aims to provide personalized recommendations for accounts shared by multiple users with varying sequential preferences. Previous studies on SSR struggle to capture the fine-grained associations between interactions and different latent users within the shared account's hybrid sequences. Moreover, most existing SSR methods (e.g., RNN-based or GCN-based methods) have quadratic computational complexities, hindering the deployment of SSRs on resource-constrained devices. To this end, we propose a \textbf{Light}weight \textbf{G}raph \textbf{C}apsule \textbf{C}onvolutional \textbf{N}etwork with subspace alignment for shared-account sequential recommendation, named LightGC$^2$N. Specifically, we devise a lightweight graph capsule convolutional network. It facilitates the fine-grained matching between interactions and latent users by attentively propagating messages on the capsule graphs. Besides, we present an efficient subspace alignment method. This method refines the sequence representations and then aligns them with the finely clustered preferences of latent users. The experimental results on four real-world datasets indicate that LightGC$^2$N outperforms nine state-of-the-art methods in accuracy and efficiency.

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Neural Control and Certificate Repair via Runtime Monitoring

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Explainable Planner Selection for Classical Planning

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Neural Control and Certificate Repair via Runtime Monitoring

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Explainable Planner Selection for Classical Planning

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