Scalable Multi-Agent Path Finding using Collision-Aware Dynamic Alert Mask and a Hybrid Execution Strategy

Multi-agent pathfinding (MAPF) remains a critical problem in robotics and autonomous systems, where agents must navigate shared spaces efficiently while avoiding conflicts. Traditional centralized algorithms that have global information, such as Conflict-Based Search (CBS), provide high-quality solutions but become computationally expensive in large-scale scenarios due to the combinatorial explosion of conflicts that need resolution. Conversely, distributed approaches that have local information, particularly learning-based methods, offer better scalability by operating with relaxed information availability, yet often at the cost of solution quality. To address these limitations, we propose a hybrid framework that combines decentralized path planning with a lightweight centralized coordinator. Our framework leverages reinforcement learning (RL) for decentralized planning, enabling agents to adapt their planning based on minimal, targeted alerts--such as static conflict-cell flags or brief conflict tracks--that are dynamically shared information from the central coordinator for effective conflict resolution. We empirically study the effect of the information available to an agent on its planning performance. Our approach reduces the inter-agent information sharing compared to fully centralized and distributed methods, while still consistently finding feasible, collision-free solutions--even in large-scale scenarios having higher agent counts.

Quantum Observers: A NISQ Hardware Demonstration of Chaotic State Prediction Using Quantum Echo-state Networks

Recent advances in artificial intelligence have highlighted the remarkable capabilities of neural network (NN)-powered systems on classical computers. However, these systems face significant computational challenges that limit scalability and efficiency. Quantum computers hold the potential to overcome these limitations and increase processing power beyond classical systems. Despite this, integrating quantum computing with NNs remains largely unrealized due to challenges posed by noise, decoherence, and high error rates in current quantum hardware. Here, we propose a novel quantum echo-state network (QESN) design and implementation algorithm that can operate within the presence of noise on current IBM hardware. We apply classical control-theoretic response analysis to characterize the QESN, emphasizing its rich nonlinear dynamics and memory, as well as its ability to be fine-tuned with sparsity and re-uploading blocks. We validate our approach through a comprehensive demonstration of QESNs functioning as quantum observers, applied in both high-fidelity simulations and hardware experiments utilizing data from a prototypical chaotic Lorenz system. Our results show that the QESN can predict long time-series with persistent memory, running over 100 times longer than the median T}1 and T2 of the IBM Marrakesh QPU, achieving state-of-the-art time-series performance on superconducting hardware.

Towards Effective Planning Strategies for Dynamic Opinion Networks

In this study, we investigate the under-explored intervention planning aimed at disseminating accurate information within dynamic opinion networks by leveraging learning strategies. Intervention planning involves identifying key nodes (search) and exerting control (e.g., disseminating accurate/official information through the nodes) to mitigate the influence of misinformation. However, as network size increases, the problem becomes computationally intractable. To address this, we first introduce a novel ranking algorithm (search) to identify key nodes for disseminating accurate information, which facilitates the training of neural network (NN) classifiers for scalable and generalized solutions. Second, we address the complexity of label generation (through search) by developing a Reinforcement Learning (RL)-based dynamic planning framework. We investigate NN-based RL planners tailored for dynamic opinion networks governed by two propagation models for the framework. Each model incorporates both binary and continuous opinion and trust representations. Our experimental results demonstrate that our ranking algorithm-based classifiers provide plans that enhance infection rate control, especially with increased action budgets. Moreover, reward strategies focusing on key metrics, such as the number of susceptible nodes and infection rates, outperform those prioritizing faster blocking strategies. Additionally, our findings reveal that Graph Convolutional Networks (GCNs)-based planners facilitate scalable centralized plans that achieve lower infection rates (higher control) across various network scenarios (e.g., Watts-Strogatz topology, varying action budgets, varying initial infected nodes, and varying degree of infected nodes).

Evaluating Chatbots to Promote Users' Trust -- Practices and Open Problems

Chatbots, the common moniker for collaborative assistants, are Artificial Intelligence (AI) software that enables people to naturally interact with them to get tasks done. Although chatbots have been studied since the dawn of AI, they have particularly caught the imagination of the public and businesses since the launch of easy-to-use and general-purpose Large Language Model-based chatbots like ChatGPT. As businesses look towards chatbots as a potential technology to engage users, who may be end customers, suppliers, or even their own employees, proper testing of chatbots is important to address and mitigate issues of trust related to service or product performance, user satisfaction and long-term unintended consequences for society. This paper reviews current practices for chatbot testing, identifies gaps as open problems in pursuit of user trust, and outlines a path forward.

A Planning Ontology to Represent and Exploit Planning Knowledge for Performance Efficiency

Ontologies are known for their ability to organize rich metadata, support the identification of novel insights via semantic queries, and promote reuse. In this paper, we consider the problem of automated planning, where the objective is to find a sequence of actions that will move an agent from an initial state of the world to a desired goal state. We hypothesize that given a large number of available planners and diverse planning domains; they carry essential information that can be leveraged to identify suitable planners and improve their performance for a domain. We use data on planning domains and planners from the International Planning Competition (IPC) to construct a planning ontology and demonstrate via experiments in two use cases that the ontology can lead to the selection of promising planners and improving their performance using macros - a form of action ordering constraints extracted from planning ontology. We also make the planning ontology and associated resources available to the community to promote further research.

IERL: Interpretable Ensemble Representation Learning -- Combining CrowdSourced Knowledge and Distributed Semantic Representations

Large Language Models (LLMs) encode meanings of words in the form of distributed semantics. Distributed semantics capture common statistical patterns among language tokens (words, phrases, and sentences) from large amounts of data. LLMs perform exceedingly well across General Language Understanding Evaluation (GLUE) tasks designed to test a model's understanding of the meanings of the input tokens. However, recent studies have shown that LLMs tend to generate unintended, inconsistent, or wrong texts as outputs when processing inputs that were seen rarely during training, or inputs that are associated with diverse contexts (e.g., well-known hallucination phenomenon in language generation tasks). Crowdsourced and expert-curated knowledge graphs such as ConceptNet are designed to capture the meaning of words from a compact set of well-defined contexts. Thus LLMs may benefit from leveraging such knowledge contexts to reduce inconsistencies in outputs. We propose a novel ensemble learning method, Interpretable Ensemble Representation Learning (IERL), that systematically combines LLM and crowdsourced knowledge representations of input tokens. IERL has the distinct advantage of being interpretable by design (when was the LLM context used vs. when was the knowledge context used?) over state-of-the-art (SOTA) methods, allowing scrutiny of the inputs in conjunction with the parameters of the model, facilitating the analysis of models' inconsistent or irrelevant outputs. Although IERL is agnostic to the choice of LLM and crowdsourced knowledge, we demonstrate our approach using BERT and ConceptNet. We report improved or competitive results with IERL across GLUE tasks over current SOTA methods and significantly enhanced model interpretability.

Knowledge-Infused Self Attention Transformers

Transformer-based language models have achieved impressive success in various natural language processing tasks due to their ability to capture complex dependencies and contextual information using self-attention mechanisms. However, they are not without limitations. These limitations include hallucinations, where they produce incorrect outputs with high confidence, and alignment issues, where they generate unhelpful and unsafe outputs for human users. These limitations stem from the absence of implicit and missing context in the data alone. To address this, researchers have explored augmenting these models with external knowledge from knowledge graphs to provide the necessary additional context. However, the ad-hoc nature of existing methods makes it difficult to properly analyze the effects of knowledge infusion on the many moving parts or components of a transformer. This paper introduces a systematic method for infusing knowledge into different components of a transformer-based model. A modular framework is proposed to identify specific components within the transformer architecture, such as the self-attention mechanism, encoder layers, or the input embedding layer, where knowledge infusion can be applied. Additionally, extensive experiments are conducted on the General Language Understanding Evaluation (GLUE) benchmark tasks, and the findings are reported. This systematic approach aims to facilitate more principled approaches to incorporating knowledge into language model architectures.

Process Knowledge-infused Learning for Clinician-friendly Explanations

Language models have the potential to assess mental health using social media data. By analyzing online posts and conversations, these models can detect patterns indicating mental health conditions like depression, anxiety, or suicidal thoughts. They examine keywords, language markers, and sentiment to gain insights into an individual's mental well-being. This information is crucial for early detection, intervention, and support, improving mental health care and prevention strategies. However, using language models for mental health assessments from social media has two limitations: (1) They do not compare posts against clinicians' diagnostic processes, and (2) It's challenging to explain language model outputs using concepts that the clinician can understand, i.e., clinician-friendly explanations. In this study, we introduce Process Knowledge-infused Learning (PK-iL), a new learning paradigm that layers clinical process knowledge structures on language model outputs, enabling clinician-friendly explanations of the underlying language model predictions. We rigorously test our methods on existing benchmark datasets, augmented with such clinical process knowledge, and release a new dataset for assessing suicidality. PK-iL performs competitively, achieving a 70% agreement with users, while other XAI methods only achieve 47% agreement (average inter-rater agreement of 0.72). Our evaluations demonstrate that PK-iL effectively explains model predictions to clinicians.

Cook-Gen: Robust Generative Modeling of Cooking Actions from Recipes

As people become more aware of their food choices, food computation models have become increasingly popular in assisting people in maintaining healthy eating habits. For example, food recommendation systems analyze recipe instructions to assess nutritional contents and provide recipe recommendations. The recent and remarkable successes of generative AI methods, such as auto-regressive large language models, can lead to robust methods for a more comprehensive understanding of recipes for healthy food recommendations beyond surface-level nutrition content assessments. In this study, we explore the use of generative AI methods to extend current food computation models, primarily involving the analysis of nutrition and ingredients, to also incorporate cooking actions (e.g., add salt, fry the meat, boil the vegetables, etc.). Cooking actions are notoriously hard to model using statistical learning methods due to irregular data patterns - significantly varying natural language descriptions for the same action (e.g., marinate the meat vs. marinate the meat and leave overnight) and infrequently occurring patterns (e.g., add salt occurs far more frequently than marinating the meat). The prototypical approach to handling irregular data patterns is to increase the volume of data that the model ingests by orders of magnitude. Unfortunately, in the cooking domain, these problems are further compounded with larger data volumes presenting a unique challenge that is not easily handled by simply scaling up. In this work, we propose novel aggregation-based generative AI methods, Cook-Gen, that reliably generate cooking actions from recipes, despite difficulties with irregular data patterns, while also outperforming Large Language Models and other strong baselines.

Knowledge Graph Guided Semantic Evaluation of Language Models For User Trust

A fundamental question in natural language processing is - what kind of language structure and semantics is the language model capturing? Graph formats such as knowledge graphs are easy to evaluate as they explicitly express language semantics and structure. This study evaluates the semantics encoded in the self-attention transformers by leveraging explicit knowledge graph structures. We propose novel metrics to measure the reconstruction error when providing graph path sequences from a knowledge graph and trying to reproduce/reconstruct the same from the outputs of the self-attention transformer models. The opacity of language models has an immense bearing on societal issues of trust and explainable decision outcomes. Our findings suggest that language models are models of stochastic control processes for plausible language pattern generation. However, they do not ascribe object and concept-level meaning and semantics to the learned stochastic patterns such as those described in knowledge graphs. Furthermore, to enable robust evaluation of concept understanding by language models, we construct and make public an augmented language understanding benchmark built on the General Language Understanding Evaluation (GLUE) benchmark. This has significant application-level user trust implications as stochastic patterns without a strong sense of meaning cannot be trusted in high-stakes applications.