United States

Artificial Intelligence (AI) has revolutionized fields like computer vision and natural language processing, yet its impact on robotics remains limited by challenges in long-horizon decision-making and complex physical interactions. My research pioneers robot learning algorithms that exploit (predict, perceive, plan, and reason about) physical interaction as a core component of artificial intelligence, pushing beyond passive solutions in domains such as perception, navigation, and manipulation. By leveraging techniques in imitation learning and hierarchical reinforcement learning, my work empowers robots to learn from human demonstrations, navigate interactively in real-world environments, and gather information through purposeful interactions. In my talk, I will explain how these advances are critical for robots to become useful helpers in human environments, opening the door to the next generation of household robots. I will present several AI algorithmic innovations to integrate physical interactions in computation procedures and outline the path toward developing continually learning robots capable of operating autonomously in unstructured human environments, enhancing their utility as adaptable and intelligent assistants.

AAAI 2025

Robots Learning Through Physical Interactive Intelligence

### Conference Welcome

Welcome to the third Cultural Evolution Society Conference, CES2021. In the conference, which will be held from June 9-11, 2021, about 180 researchers from East Asia, Oceania, Middle East, Europe, North and South America give presentations on their latest research advancing the evolutionary understanding of human and nonhuman animal culture.

### Schedule and Program

[![](https://assets.underline.io/uploads/markdown_image/1/image/1ef06ffd05f80957b4a5b685f63ee3ba.png)](https://www.chain.hokudai.ac.jp/CES2020/wp-content/uploads/2021/06/fullprogram.pdf)
[![](https://assets.underline.io/uploads/markdown_image/1/image/12285eb22580949635121d15d5b46325.png)](https://www.chain.hokudai.ac.jp/CES2020/wp-content/uploads/2021/06/abstracts.pdf)

**Program-at-glance**

![](https://assets.underline.io/uploads/markdown_image/1/image/c0d0d4c8fcdad49d12631574fd966ae8.png)

### About the conference 
 
**Help-desk:** 
Please first visit [Help-desk](https://underline.io/events/120/help-desk) where you can find the instructions and manuals for exploring the conference site. 

**Plenary sessions:**
Five leading researchers give a live talk. It is like a TV show. The audience can submit a question from the chat window. Chat messages are immediately delivered to speakers and moderators.

**Q&A sessions (parallel):**
Each presenter first gives a 2-minute live lightning talk followed by an 8-minute live discussion with the audience. It uses Zoom.

**Discussion sessions:** 
The audience can approach presenters and discuss their research. The sessions are held in a dedicated room in Gathertown.
 
**Gathertown:**
It is a platform dedicated to live virtual interactions.
Gather Town is available for all participants 24 hours during the conference.
You can meet and talk with anybody at a lounge or at a table in Gathertown.
Further Gather Town instruction and how to use short keys please find in our [Help desk page](https://underline.io/events/120/help-desk). 

**Videos and slides:**

* Plenary sessions and the Q&A sessions will be recorded and uploaded after the sessions.
* All the videos and slides are available for 60 days after the conference but only to registered ones. 

**Text-based chatting with the speakers:** 
You can chat with any speaker in the Q&A and discussion sessions. A chat window is available on each speaker’s page, and you can leave your questions there. 

**Announcement to the other participants:**
If you want to make an announcement to the other participants (e.g., “Hey, let’s meet at the lounge in Gathertown from 9pm CEST!), please use twitter (#CESConf2021).



### Code of conduct

See the full details of [the code of conduct](https://www.chain.hokudai.ac.jp/CES2020/code-of-conduct/).
&nbsp; 
 CES is dedicated to providing a welcoming and harassment-free conference experience for everyone, regardless of gender, gender identity and expression, sexual orientation, disability, physical appearance, body size, race, age, religion, nationality, or the presence of or care for dependents. 
We do not tolerate harassment of conference participants in any form. Conference participants violating these rules may be sanctioned or expelled from the conference at the discretion of the conference organizers.

&nbsp;
**Harassment can occur in-person or virtually, and includes, but is not limited to:**
* Comments (verbal, text, etc.) that reinforce social structures of domination related to gender, gender identity and expression, sexual orientation, disability, physical appearance, body size, race, age, religion, nationality
* Sexual images in public spaces (physical or virtual)
* Deliberate intimidation, stalking, or following
* Harassing photography or recording (including sharing of presentation materials without consent)
* Sustained disruption of talks or other events (including “Zoombombing”)
* Inappropriate physical contact or unwelcome sexual attention
* Advocating for, or encouraging, any of the above behaviour 

&nbsp;
 **Inclusiveness Committee**:
&nbsp;
 To facilitate implementing the code of conduct and foster a climate of inclusion, we have developed an inclusiveness committee. Below is their contact information:
 **Hiromi Matsumae**:	matsumae.hiromi.g@tokai.ac.jp
 **Patrick Savage**:	psavage@sfc.keio.ac.jp
 **Sarah Mathew**:	Sarah.Mathew@asu.edu
 **Gmail:** inclusivenessCES2021@gmail.com
 See [more details about reporting the harassment.](https://www.chain.hokudai.ac.jp/CES2020/code-of-conduct/)

### Organizing committee

**Honorary Conference Organizer:** [Kenichi Aoki (Meiji University)](https://sites.google.com/site/kenichi1aoki/home) 

**Chair:** [Masanori Takezawa (Hokkaido University)](https://lalalarakko.github.io)

**Scientific Committee:** [Kenichi Aoki (Meiji University)](https://sites.google.com/site/kenichi1aoki/home), [Yasuo Ihara (the University of Tokyo)](https://researchmap.jp/read0209180?lang=en), [Hiromi Matsumae (Tokai University)](https://sites.google.com/site/hiromimatsumae/eng), [Naoko Matsumoto (Okayama University)](https://researchmap.jp/nmatsumoto_okayama-u), [Masako Myowa (Kyoto University)](https://myowa.educ.kyoto-u.ac.jp/en), [Hisashi Nakao (Nanzan University)](https://www.hisashinakao.com/), [Patrick E. Savage (Keio University)](https://sites.google.com/view/comp-music-lab/home)

**Local Organizing Committee:** [Yutaka Horita (Teikyo University)](https://sites.google.com/site/yhoritapage/), [Masanori Takezawa (Hokkaido University)](https://lalalarakko.github.io/), [Ayaka Takimoto (Hokkaido University)](https://lynx.let.hokudai.ac.jp/~takimoto/), [Kohei Tamura (Tohoku University)](https://researchmap.jp/7000017854)

**Inclusiveness Committee:** [Sarah Mathew (Arizona State University)](https://www.sarahmathew.net/), [Hiromi Matsumae (Tokai University)](https://sites.google.com/site/hiromimatsumae/eng), [Patrick E. Savage (Keio University)](https://sites.google.com/view/comp-music-lab/home)


![](https://assets.underline.io/uploads/markdown_image/1/image/967110a00d200a6b20d6f4fa6556ba13.png)

For attending the conference, you first need to register and pay fees from [the link here](https://www.chain.hokudai.ac.jp/CES2020/registration/). After the payment of the registration fees, you will receive a ticket, which is necessary for accessing the conference site. After the payment of the registration fees, you will receive a ticket, which is necessary for accessing the conference site

Registration fee

Cultural Evolution Society 2021

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.



Inconsistency is a common problem in knowledge, and so there is a need to analyse it. Inconsistency measures assess its severity, but there is a more basic question: "where is the inconsistency?". Typically, not all subsets of a knowledgebase are causing the inconsistency, and minimal inconsistent sets have been the standard way to localise the germane ones, even though there are shortcomings in some scenarios. Recently, $\star$-conflicts were proposed as a more suitable definition to localise inconsistency when considering a method to repair it. But in general there is no way to tell what is a sensible definition to capture the germane conflicts. This work provides a set of desirable properties to assess definitions for germane conflicts. Also, a new conflict definition, based on substitution, is presented and evaluated via the proposed properties, and the related computational complexity is analysed.

Germane Conflicts: Desirable Properties for Localising Inconsistency

A *citizens' assembly* is a group of people who are randomly selected to represent a larger population in a deliberation. While this approach has successfully strengthened democracy, it has certain limitations that suggest the need for assemblies to form and associate more organically. In response, we propose *federated assemblies*, where assemblies are interconnected, and each parent assembly is selected from members of its child assemblies. The main technical challenge is to develop random selection algorithms that meet new representation constraints inherent in this hierarchical structure. We design and analyze several algorithms that provide different representation guarantees under various assumptions on the structure of the underlying graph.

Federated Assemblies

Multi-Agent Path Finding (MAPF) is a critical component of logistics and warehouse management, which focuses on planning collision-free paths for a team of robots in a known environment. Recent work introduced a novel MAPF approach, LNS2, which proposed to repair a quickly-obtainable set of infeasible paths via iterative re-planning, by relying on a fast, yet lower-quality, priority-based planner. At the same time, there has been a recent push for Multi-Agent Reinforcement Learning (MARL) based MAPF algorithms, which let agents learn decentralized policies that exhibit improved cooperation over such priority planning, although inevitably remaining slower. In this paper, we introduce a new MAPF algorithm, LNS2+RL, which combines the distinct yet complementary characteristics of LNS2 and MARL to effectively balance their individual limitations and get the best from both worlds. During early iterations, LNS2+RL relies on MARL for low-level re-planning, which we show eliminates collisions much more than a priority-based planner. There, our MARL-based planner allows agents to reason about past and future/predicted information to gradually learn cooperative decision-making through a finely designed curriculum learning. At later stages of planning, LNS2+RL adaptively switches to priority-based planning to quickly resolve the remaining collisions, naturally trading-off solution quality and computational efficiency. Our comprehensive experiments on challenging tasks across various team sizes, world sizes, and map structures consistently demonstrate the superior performance of LNS2+RL compared to many MAPF algorithms, including LNS2, LaCAM, and EECBS. In maps with complex structures, the advantages of LNS2+RL are particularly pronounced, with LNS2+RL achieving a success rate of over 50\% in nearly half of the tested tasks, while that of LaCAM and EECBS falls to 0%.We finally experimentally validate our algorithm in a hybrid simulation of a warehouse mockup involving a team of 100 (real-world and simulated) robots.

LNS2+RL: Combining Multi-agent Reinforcement Learning with Large Neighborhood Search in Multi-agent Path Finding

We study the problem of realizing strategies for an LTLf goal specification while ensuring that at least an LTLf backup specification is satisfied in case of unreliability of certain input variables.
We formally define the problem and characterize its worst-case complexity as 2EXPTIME-complete, like standard LTLf synthesis.
Then we devise three different solution techniques:  one based on direct automata manipulation, which is 2EXPTIME, one disregarding unreliable input variables by adopting a belief construction, which is 3EXPTIME, and one leveraging second-order quantified LTLf (QLTLf), which is 2EXPTIME, and allows for a direct encoding into monadic second-order logic, which in turn is worst-case nonelementary. 
We prove their correctness and evaluate them against each other empirically.  
Interestingly, theoretical worst-case bounds do not translate into observed performance; the MSO technique performs best, followed by belief construction and direct automata manipulation. As a byproduct of our study, we provide a general synthesis procedure for arbitrary QLTLf specifications.

LTLf Synthesis Under Unreliable Input

Many approaches to program synthesis perform a combinatorial search within a large space of programs to find one that satisfies a given specification. To tame the search space blowup, previous works introduced probabilistic and neural approaches to guide this combinatorial search by inducing heuristic cost functions. Best-first search algorithms ensure to search in the exact order induced by the cost function, significantly reducing the portion of the program space to be explored. We present a new best-first search algorithm called Eco Search, which is the first no-delay algorithm: the amount of compute required between outputting two programs is constant, and in particular does not increase over time. This key property yields important speedups: we observe that Eco Search outperforms its predecessors on two classical domains.

Eco Search: A No-delay Best-First Search Algorithm for Program Synthesis

Camera-based 3D semantic scene completion (SSC) provides dense geometric and semantic perception for autonomous driving. However, images provide limited information making the model susceptible to geometric ambiguity caused by occlusion and perspective distortion. Existing methods often lack explicit semantic modeling between objects, limiting their perception of 3D semantic context. To address these challenges, we propose a novel method VLScene: Vision-Language Guidance Distillation for Camera-based 3D Semantic Scene Completion. The key insight is to use the vision-language model to introduce high-level semantic priors to provide the object spatial context required for 3D scene understanding. Specifically, we design a vision-language guidance distillation process to enhance image features, which can effectively capture semantic knowledge from the surrounding environment and improve spatial context reasoning. In addition, we introduce a geometric-semantic sparse awareness mechanism to propagate geometric structures in the neighborhood and enhance semantic information through contextual sparse interactions. Experimental results demonstrate that VLScene achieves rank-1st performance on challenging benchmarks—SemanticKITTI and SSCBench-KITTI-360, yielding remarkably mIoU scores of 17.52 and 19.10, respectively. The source code will be released upon acceptance.

VLScene: Vision-Language Guidance Distillation for Camera-Based 3D Semantic Scene Completion

In recent years, deep learning has revenue in the field of automated medical landmark detection. Nonetheless, prevailing research on this field predominantly addresses either single-center scenarios or domain adaptation settings. In practical environments, the acquisition of multi-center data faces privacy concerns, coupled with the time-intensive and costly nature of data collection and annotation. These challenges substantially impede the broader application of deep learning-based medical landmark detection. To mitigate these issues, we propose a novel framework for domain-generalized medical landmark detection that relies solely on single-center data for training. Considering the availability of numerous public medical segmentation datasets, we design a simple yet effective method that utilizes single-center segmentation to enhance the domain generalization capabilities of the landmark detection task. Specifically, we introduce a novel boundary-aware pre-training approach designed to focus the model on regions pertinent to landmarks. To further enhance the robustness and generalization capabilities during pre-training, we have derived a mixing loss function and proof its effectiveness in theory and practice. Extensive experiments conducted on our new domain generalization benchmark for medical landmark detection demonstrate the superiority of our approach. All benchmark data and accompanying code from this study will be made publicly available upon acceptance, thereby contributing to the community.

Domain Generalized Medical Landmark Detection via Robust Boundary-Aware Pre-Training

Abstract visual reasoning (AVR) is a critical ability of humans, and it has been widely studied, but arithmetic visual reasoning, a unique task in AVR to reason over number sense, is less studied in the literature. To facilitate this research, we construct a Machine Number Reasoning (MNR) dataset to assess the model's ability in arithmetic visual reasoning over number sense and spatial layouts. To solve the MNR tasks, we propose a Dual-branch Arithmetic Regression Reasoning (DARR) framework, which includes an Intra-Image Arithmetic Regression Reasoning (IIARR) module and a Cross-Image Arithmetic Regression Reasoning (CIARR) module. The IIARR includes a set of Intra-Image Regression Blocks to identify the correct number orders and the underlying arithmetic rules within individual images, and an Order Gate to determine the correct number order. The CIARR establishes the arithmetic relations across different images through a '3-to-1' regressor and a set of '2-to-1' regressors, with a Selection Gate to select the most suitable ‘2-to-1' regressor and a gated fusion to combine the two kinds of regressors. Experiments on the MNR dataset show that the DARR outperforms state-of-the-art models for arithmetic visual reasoning.

DARR: A Dual-Branch Arithmetic Regression Reasoning Framework for Solving Machine Number Reasoning

Mainstream backdoor attacks on large language models (LLMs) typically set a fixed trigger in the input instance and specific responses for triggered queries. 
However, the fixed trigger setting (e.g., unusual words) may be easily detected by human detection, limiting the effectiveness and practicality in real-world scenarios. 
To enhance the stealthiness of backdoor activation, we present a new poisoning paradigm against LLMs triggered by specifying generation conditions, which are commonly adopted strategies by users during model inference. 
The poisoned model performs normally for output under normal/other generation conditions, while becomes harmful for output under target generation conditions. 
To achieve this objective, we introduce $\textbf{BrieFool}$, an efficient attack framework. 
It leverages the characteristics of generation conditions by efficient instruction sampling and poisoning data generation, thereby influencing the behavior of LLMs under target conditions. Our attack can be generally divided into two types with different targets: $\textbf{Safety unalignment attack}$ and $\textbf{Ability degradation attack}$. 
Our extensive experiments demonstrate that $\textbf{BrieFool}$ is effective across safety domains and ability domains, achieving higher success rates than baseline methods, with 94.3 \% on GPT-3.5-turbo.

Watch Out for Your Guidance on Generation! Exploring Conditional Backdoor Attacks against Large Language Models

The discriminative feature is crucial for point cloud registration. Recent methods improve the feature discriminative by distinguishing between non-overlapping and overlapping region points. However, they still face challenges in distinguishing the ambiguous structures in the overlapping regions. Therefore, the ambiguous features they extracted resulted in a significant number of outlier matches from overlapping regions. To solve this problem, we propose a prior-guided SMoE-based registration method to improve the feature distinctiveness by dispatching the potential correspondences in the same experts. Specifically, we propose a prior-guided SMoE module by fusing prior overlap and potential correspondence embeddings for routing, assigning tokens to the most suitable experts for processing. In addition, we propose a registration framework by a specific combination of transformer layer and prior-guided SMoE module. The proposed method not only pays attention to the importance of locating the overlapping areas of point clouds, but also commits to finding more accurate correspondences in overlapping areas. Our extensive experiments demonstrate the effectiveness of our method, achieving state-of-the-art registration recall (95.7\%/79.3\%) on the 3DMatch/3DLoMatch benchmark. Moreover, we also test the performance on ModelNet40 and demonstrate excellent performance.

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