CALMM-Drive: Confidence-Aware Autonomous Driving with Large Multimodal Model

Decision-making and motion planning are pivotal in ensuring the safety and efficiency of Autonomous Vehicles (AVs). Existing methodologies typically adopt two paradigms: decision then planning or generation then scoring. However, the former often struggles with misalignment between decisions and planning, while the latter encounters significant challenges in integrating short-term operational utility with long-term tactical efficacy. To address these issues, we introduce CALMM-Drive, a novel Confidence-Aware Large Multimodal Model (LMM) empowered Autonomous Driving framework. Our approach employs Top-K confidence elicitation, which facilitates the generation of multiple candidate decisions along with their confidence levels. Furthermore, we propose a novel planning module that integrates a diffusion model for trajectory generation and a hierarchical refinement process to find the optimal path. This framework enables the selection of the best plan accounting for both low-level solution quality and high-level tactical confidence, which mitigates the risks of one-shot decisions and overcomes the limitations induced by short-sighted scoring mechanisms. Comprehensive evaluations in nuPlan closed-loop simulation environments demonstrate the effectiveness of CALMM-Drive in achieving reliable and flexible driving performance, showcasing a significant advancement in the integration of uncertainty in LMM-empowered AVs. The code will be released upon acceptance.

Uncertainty-based Offline Variational Bayesian Reinforcement Learning for Robustness under Diverse Data Corruptions

Real-world offline datasets are often subject to data corruptions (such as noise or adversarial attacks) due to sensor failures or malicious attacks. Despite advances in robust offline reinforcement learning (RL), existing methods struggle to learn robust agents under high uncertainty caused by the diverse corrupted data (i.e., corrupted states, actions, rewards, and dynamics), leading to performance degradation in clean environments. To tackle this problem, we propose a novel robust variational Bayesian inference for offline RL (TRACER). It introduces Bayesian inference for the first time to capture the uncertainty via offline data for robustness against all types of data corruptions. Specifically, TRACER first models all corruptions as the uncertainty in the action-value function. Then, to capture such uncertainty, it uses all offline data as the observations to approximate the posterior distribution of the action-value function under a Bayesian inference framework. An appealing feature of TRACER is that it can distinguish corrupted data from clean data using an entropy-based uncertainty measure, since corrupted data often induces higher uncertainty and entropy. Based on the aforementioned measure, TRACER can regulate the loss associated with corrupted data to reduce its influence, thereby enhancing robustness and performance in clean environments. Experiments demonstrate that TRACER significantly outperforms several state-of-the-art approaches across both individual and simultaneous data corruptions.

DynaMath: A Dynamic Visual Benchmark for Evaluating Mathematical Reasoning Robustness of Vision Language Models

The rapid advancements in Vision-Language Models (VLMs) have shown great potential in tackling mathematical reasoning tasks that involve visual context. Unlike humans who can reliably apply solution steps to similar problems with minor modifications, we found that SOTA VLMs like GPT-4o can consistently fail in these scenarios, revealing limitations in their mathematical reasoning capabilities. In this paper, we investigate the mathematical reasoning robustness in VLMs and evaluate how well these models perform under different variants of the same question, such as changes in visual numerical values or function graphs. While several vision-based math benchmarks have been developed to assess VLMs' problem-solving capabilities, these benchmarks contain only static sets of problems and cannot easily evaluate mathematical reasoning robustness. To fill this gap, we introduce DynaMath, a dynamic visual math benchmark designed for in-depth assessment of VLMs. DynaMath includes 501 high-quality, multi-topic seed questions, each represented as a Python program. Those programs are carefully designed and annotated to enable the automatic generation of a much larger set of concrete questions, including many different types of visual and textual variations. DynaMath allows us to evaluate the generalization ability of VLMs, by assessing their performance under varying input conditions of a seed question. We evaluated 14 SOTA VLMs with 5,010 generated concrete questions. Our results show that the worst-case model accuracy, defined as the percentage of correctly answered seed questions in all 10 variants, is significantly lower than the average-case accuracy. Our analysis emphasizes the need to study the robustness of VLMs' reasoning abilities, and DynaMath provides valuable insights to guide the development of more reliable models for mathematical reasoning.

Graphusion: A RAG Framework for Knowledge Graph Construction with a Global Perspective

Knowledge Graphs (KGs) are crucial in the field of artificial intelligence and are widely used in downstream tasks, such as question-answering (QA). The construction of KGs typically requires significant effort from domain experts. Large Language Models (LLMs) have recently been used for Knowledge Graph Construction (KGC). However, most existing approaches focus on a local perspective, extracting knowledge triplets from individual sentences or documents, missing a fusion process to combine the knowledge in a global KG. This work introduces Graphusion, a zero-shot KGC framework from free text. It contains three steps: in Step 1, we extract a list of seed entities using topic modeling to guide the final KG includes the most relevant entities; in Step 2, we conduct candidate triplet extraction using LLMs; in Step 3, we design the novel fusion module that provides a global view of the extracted knowledge, incorporating entity merging, conflict resolution, and novel triplet discovery. Results show that Graphusion achieves scores of 2.92 and 2.37 out of 3 for entity extraction and relation recognition, respectively. Moreover, we showcase how Graphusion could be applied to the Natural Language Processing (NLP) domain and validate it in an educational scenario. Specifically, we introduce TutorQA, a new expert-verified benchmark for QA, comprising six tasks and a total of 1,200 QA pairs. Using the Graphusion-constructed KG, we achieve a significant improvement on the benchmark, for example, a 9.2% accuracy improvement on sub-graph completion.

AGENTiGraph: An Interactive Knowledge Graph Platform for LLM-based Chatbots Utilizing Private Data

Large Language Models~(LLMs) have demonstrated capabilities across various applications but face challenges such as hallucination, limited reasoning abilities, and factual inconsistencies, especially when tackling complex, domain-specific tasks like question answering~(QA). While Knowledge Graphs~(KGs) have been shown to help mitigate these issues, research on the integration of LLMs with background KGs remains limited. In particular, user accessibility and the flexibility of the underlying KG have not been thoroughly explored. We introduce AGENTiGraph (Adaptive Generative ENgine for Task-based Interaction and Graphical Representation), a platform for knowledge management through natural language interaction. It integrates knowledge extraction, integration, and real-time visualization. AGENTiGraph employs a multi-agent architecture to dynamically interpret user intents, manage tasks, and integrate new knowledge, ensuring adaptability to evolving user requirements and data contexts. Our approach demonstrates superior performance in knowledge graph interactions, particularly for complex domain-specific tasks. Experimental results on a dataset of 3,500 test cases show AGENTiGraph significantly outperforms state-of-the-art zero-shot baselines, achieving 95.12\% accuracy in task classification and 90.45\% success rate in task execution. User studies corroborate its effectiveness in real-world scenarios. To showcase versatility, we extended AGENTiGraph to legislation and healthcare domains, constructing specialized KGs capable of answering complex queries in legal and medical contexts.

radarODE-MTL: A Multi-Task Learning Framework with Eccentric Gradient Alignment for Robust Radar-Based ECG Reconstruction

Millimeter-wave radar is promising to provide robust and accurate vital sign monitoring in an unobtrusive manner. However, the radar signal might be distorted in propagation by ambient noise or random body movement, ruining the subtle cardiac activities and destroying the vital sign recovery. In particular, the recovery of electrocardiogram (ECG) signal heavily relies on the deep-learning model and is sensitive to noise. Therefore, this work creatively deconstructs the radar-based ECG recovery into three individual tasks and proposes a multi-task learning (MTL) framework, radarODE-MTL, to increase the robustness against consistent and abrupt noises. In addition, to alleviate the potential conflicts in optimizing individual tasks, a novel multi-task optimization strategy, eccentric gradient alignment (EGA), is proposed to dynamically trim the task-specific gradients based on task difficulties in orthogonal space. The proposed radarODE-MTL with EGA is evaluated on the public dataset with prominent improvements in accuracy, and the performance remains consistent under noises. The experimental results indicate that radarODE-MTL could reconstruct accurate ECG signals robustly from radar signals and imply the application prospect in real-life situations. The code is available at: http://github.com/ZYY0844/radarODE-MTL.

QCircuitNet: A Large-Scale Hierarchical Dataset for Quantum Algorithm Design

Quantum computing is an emerging field recognized for the significant speedup it offers over classical computing through quantum algorithms. However, designing and implementing quantum algorithms pose challenges due to the complex nature of quantum mechanics and the necessity for precise control over quantum states. Despite the significant advancements in AI, there has been a lack of datasets specifically tailored for this purpose. In this work, we introduce QCircuitNet, the first benchmark and test dataset designed to evaluate AI's capability in designing and implementing quantum algorithms in the form of quantum circuit codes. Unlike using AI for writing traditional codes, this task is fundamentally different and significantly more complicated due to highly flexible design space and intricate manipulation of qubits. Our key contributions include: 1. A general framework which formulates the key features of quantum algorithm design task for Large Language Models. 2. Implementation for a wide range of quantum algorithms from basic primitives to advanced applications, with easy extension to more quantum algorithms. 3. Automatic validation and verification functions, allowing for iterative evaluation and interactive reasoning without human inspection. 4. Promising potential as a training dataset through primitive fine-tuning results. We observed several interesting experimental phenomena: fine-tuning does not always outperform few-shot learning, and LLMs tend to exhibit consistent error patterns. QCircuitNet provides a comprehensive benchmark for AI-driven quantum algorithm design, offering advantages in model evaluation and improvement, while also revealing some limitations of LLMs in this domain.

Safe and Real-Time Consistent Planning for Autonomous Vehicles in Partially Observed Environments via Parallel Consensus Optimization

Ensuring safety and driving consistency is a significant challenge for autonomous vehicles operating in partially observed environments. This work introduces a consistent parallel trajectory optimization (CPTO) approach to enable safe and consistent driving in dense obstacle environments with perception uncertainties. Utilizing discrete-time barrier function theory, we develop a consensus safety barrier module that ensures reliable safety coverage within the spatiotemporal trajectory space across potential obstacle configurations. Following this, a bi-convex parallel trajectory optimization problem is derived that facilitates decomposition into a series of low-dimensional quadratic programming problems to accelerate computation. By leveraging the consensus alternating direction method of multipliers (ADMM) for parallel optimization, each generated candidate trajectory corresponds to a possible environment configuration while sharing a common consensus trajectory segment. This ensures driving safety and consistency when executing the consensus trajectory segment for the ego vehicle in real time. We validate our CPTO framework through extensive comparisons with state-of-the-art baselines across multiple driving tasks in partially observable environments. Our results demonstrate improved safety and consistency using both synthetic and real-world traffic datasets.

Exploiting Large Language Models Capabilities for Question Answer-Driven Knowledge Graph Completion Across Static and Temporal Domains

Knowledge graph completion (KGC) aims to identify missing triples in a knowledge graph (KG). This is typically achieved through tasks such as link prediction and instance completion. However, these methods often focus on either static knowledge graphs (SKGs) or temporal knowledge graphs (TKGs), addressing only within-scope triples. This paper introduces a new generative completion framework called Generative Subgraph-based KGC (GS-KGC). GS-KGC employs a question-answering format to directly generate target entities, addressing the challenge of questions having multiple possible answers. We propose a strategy that extracts subgraphs centered on entities and relationships within the KG, from which negative samples and neighborhood information are separately obtained to address the one-to-many problem. Our method generates negative samples using known facts to facilitate the discovery of new information. Furthermore, we collect and refine neighborhood path data of known entities, providing contextual information to enhance reasoning in large language models (LLMs). Our experiments evaluated the proposed method on four SKGs and two TKGs, achieving state-of-the-art Hits@1 metrics on five datasets. Analysis of the results shows that GS-KGC can discover new triples within existing KGs and generate new facts beyond the closed KG, effectively bridging the gap between closed-world and open-world KGC.

radarODE: An ODE-Embedded Deep Learning Model for Contactless ECG Reconstruction from Millimeter-Wave Radar

Radar-based contactless cardiac monitoring has become a popular research direction recently, but the fine-grained electrocardiogram (ECG) signal is still hard to reconstruct from millimeter-wave radar signal. The key obstacle is to decouple the cardiac activities in the electrical domain (i.e., ECG) from that in the mechanical domain (i.e., heartbeat), and most existing research only uses pure data-driven methods to map such domain transformation as a black box. Therefore, this work first proposes a signal model for domain transformation, and then a novel deep learning framework called radarODE is designed to fuse the temporal and morphological features extracted from radar signals and generate ECG. In addition, ordinary differential equations are embedded in radarODE as a decoder to provide morphological prior, helping the convergence of the model training and improving the robustness under body movements. After being validated on the dataset, the proposed radarODE achieves better performance compared with the benchmark in terms of missed detection rate, root mean square error, Pearson correlation coefficient with the improvement of 9%, 16% and 19%, respectively. The validation results imply that radarODE is capable of recovering ECG signals from radar signals with high fidelity and can be potentially implemented in real-life scenarios.