SynthSoM: A synthetic intelligent multi-modal sensing-communication dataset for Synesthesia of Machines (SoM)

Given the importance of datasets for sensing-communication integration research, a novel simulation platform for constructing communication and multi-modal sensory dataset is developed. The developed platform integrates three high-precision software, i.e., AirSim, WaveFarer, and Wireless InSite, and further achieves in-depth integration and precise alignment of them. Based on the developed platform, a new synthetic intelligent multi-modal sensing-communication dataset for Synesthesia of Machines (SoM), named SynthSoM, is proposed. The SynthSoM dataset contains various air-ground multi-link cooperative scenarios with comprehensive conditions, including multiple weather conditions, times of the day, intelligent agent densities, frequency bands, and antenna types. The SynthSoM dataset encompasses multiple data modalities, including radio-frequency (RF) channel large-scale and small-scale fading data, RF millimeter wave (mmWave) radar sensory data, and non-RF sensory data, e.g., RGB images, depth maps, and light detection and ranging (LiDAR) point clouds. The quality of SynthSoM dataset is validated via statistics-based qualitative inspection and evaluation metrics through machine learning (ML) via real-world measurements. The SynthSoM dataset is open-sourced and provides consistent data for cross-comparing SoM-related algorithms.

An Automatic Graph Construction Framework based on Large Language Models for Recommendation

Graph neural networks (GNNs) have emerged as state-of-the-art methods to learn from graph-structured data for recommendation. However, most existing GNN-based recommendation methods focus on the optimization of model structures and learning strategies based on pre-defined graphs, neglecting the importance of the graph construction stage. Earlier works for graph construction usually rely on speciffic rules or crowdsourcing, which are either too simplistic or too labor-intensive. Recent works start to utilize large language models (LLMs) to automate the graph construction, in view of their abundant open-world knowledge and remarkable reasoning capabilities. Nevertheless, they generally suffer from two limitations: (1) invisibility of global view (e.g., overlooking contextual information) and (2) construction inefficiency. To this end, we introduce AutoGraph, an automatic graph construction framework based on LLMs for recommendation. Specifically, we first use LLMs to infer the user preference and item knowledge, which is encoded as semantic vectors. Next, we employ vector quantization to extract the latent factors from the semantic vectors. The latent factors are then incorporated as extra nodes to link the user/item nodes, resulting in a graph with in-depth global-view semantics. We further design metapath-based message aggregation to effectively aggregate the semantic and collaborative information. The framework is model-agnostic and compatible with different backbone models. Extensive experiments on three real-world datasets demonstrate the efficacy and efffciency of AutoGraph compared to existing baseline methods. We have deployed AutoGraph in Huawei advertising platform, and gain a 2.69% improvement on RPM and a 7.31% improvement on eCPM in the online A/B test. Currently AutoGraph has been used as the main trafffc model, serving hundreds of millions of people.

Beyond Graph Convolution: Multimodal Recommendation with Topology-aware MLPs

Given the large volume of side information from different modalities, multimodal recommender systems have become increasingly vital, as they exploit richer semantic information beyond user-item interactions. Recent works highlight that leveraging Graph Convolutional Networks (GCNs) to explicitly model multimodal item-item relations can significantly enhance recommendation performance. However, due to the inherent over-smoothing issue of GCNs, existing models benefit only from shallow GCNs with limited representation power. This drawback is especially pronounced when facing complex and high-dimensional patterns such as multimodal data, as it requires large-capacity models to accommodate complicated correlations. To this end, in this paper, we investigate bypassing GCNs when modeling multimodal item-item relationship. More specifically, we propose a Topology-aware Multi-Layer Perceptron (TMLP), which uses MLPs instead of GCNs to model the relationships between items. TMLP enhances MLPs with topological pruning to denoise item-item relations and intra (inter)-modality learning to integrate higher-order modality correlations. Extensive experiments on three real-world datasets verify TMLP's superiority over nine baselines. We also find that by discarding the internal message passing in GCNs, which is sensitive to node connections, TMLP achieves significant improvements in both training efficiency and robustness against existing models.

Why Not Together? A Multiple-Round Recommender System for Queries and Items

A fundamental technique of recommender systems involves modeling user preferences, where queries and items are widely used as symbolic representations of user interests. Queries delineate user needs at an abstract level, providing a high-level description, whereas items operate on a more specific and concrete level, representing the granular facets of user preference. While practical, both query and item recommendations encounter the challenge of sparse user feedback. To this end, we propose a novel approach named Multiple-round Auto Guess-and-Update System (MAGUS) that capitalizes on the synergies between both types, allowing us to leverage both query and item information to form user interests. This integrated system introduces a recursive framework that could be applied to any recommendation method to exploit queries and items in historical interactions and to provide recommendations for both queries and items in each interaction round. Empirical results from testing 12 different recommendation methods demonstrate that integrating queries into item recommendations via MAGUS significantly enhances the efficiency, with which users can identify their preferred items during multiple-round interactions.

D4W: Dependable Data-Driven Dynamics for Wheeled Robots

Wheeled robots have gained significant attention due to their wide range of applications in manufacturing, logistics, and service industries. However, due to the difficulty of building a highly accurate dynamics model for wheeled robots, developing and testing control algorithms for them remains challenging and time-consuming, requiring extensive physical experimentation. To address this problem, we propose D4W, i.e., Dependable Data-Driven Dynamics for Wheeled Robots, a simulation framework incorporating data-driven methods to accelerate the development and evaluation of algorithms for wheeled robots. The key contribution of D4W is a solution that utilizes real-world sensor data to learn accurate models of robot dynamics. The learned dynamics can capture complex robot behaviors and interactions with the environment throughout simulations, surpassing the limitations of analytical methods, which only work in simplified scenarios. Experimental results show that D4W achieves the best simulation accuracy compared to traditional approaches, allowing for rapid iteration of wheel robot algorithms with less or no need for fine-tuning in reality. We further verify the usability and practicality of the proposed framework through integration with existing simulators and controllers.

Beyond Positive History: Re-ranking with List-level Hybrid Feedback

As the last stage of recommender systems, re-ranking generates a re-ordered list that aligns with the user's preference. However, previous works generally focus on item-level positive feedback as history (e.g., only clicked items) and ignore that users provide positive or negative feedback on items in the entire list. This list-level hybrid feedback can reveal users' holistic preferences and reflect users' comparison behavior patterns manifesting within a list. Such patterns could predict user behaviors on candidate lists, thus aiding better re-ranking. Despite appealing benefits, extracting and integrating preferences and behavior patterns from list-level hybrid feedback into re-ranking multiple items remains challenging. To this end, we propose Re-ranking with List-level Hybrid Feedback (dubbed RELIFE). It captures user's preferences and behavior patterns with three modules: a Disentangled Interest Miner to disentangle the user's preferences into interests and disinterests, a Sequential Preference Mixer to learn users' entangled preferences considering the context of feedback, and a Comparison-aware Pattern Extractor to capture user's behavior patterns within each list. Moreover, for better integration of patterns, contrastive learning is adopted to align the behavior patterns of candidate and historical lists. Extensive experiments show that RELIFE significantly outperforms SOTA re-ranking baselines.

Learning ID-free Item Representation with Token Crossing for Multimodal Recommendation

Current multimodal recommendation models have extensively explored the effective utilization of multimodal information; however, their reliance on ID embeddings remains a performance bottleneck. Even with the assistance of multimodal information, optimizing ID embeddings remains challenging for ID-based Multimodal Recommender when interaction data is sparse. Furthermore, the unique nature of item-specific ID embeddings hinders the information exchange among related items and the spatial requirement of ID embeddings increases with the scale of item. Based on these limitations, we propose an ID-free MultimOdal TOken Representation scheme named MOTOR that represents each item using learnable multimodal tokens and connects them through shared tokens. Specifically, we first employ product quantization to discretize each item's multimodal features (e.g., images, text) into discrete token IDs. We then interpret the token embeddings corresponding to these token IDs as implicit item features, introducing a new Token Cross Network to capture the implicit interaction patterns among these tokens. The resulting representations can replace the original ID embeddings and transform the original ID-based multimodal recommender into ID-free system, without introducing any additional loss design. MOTOR reduces the overall space requirements of these models, facilitating information interaction among related items, while also significantly enhancing the model's recommendation capability. Extensive experiments on nine mainstream models demonstrate the significant performance improvement achieved by MOTOR, highlighting its effectiveness in enhancing multimodal recommendation systems.

Unleashing the Potential of Multi-Channel Fusion in Retrieval for Personalized Recommendations

Recommender systems (RS) are pivotal in managing information overload in modern digital services. A key challenge in RS is efficiently processing vast item pools to deliver highly personalized recommendations under strict latency constraints. Multi-stage cascade ranking addresses this by employing computationally efficient retrieval methods to cover diverse user interests, followed by more precise ranking models to refine the results. In the retrieval stage, multi-channel retrieval is often used to generate distinct item subsets from different candidate generators, leveraging the complementary strengths of these methods to maximize coverage. However, forwarding all retrieved items overwhelms downstream rankers, necessitating truncation. Despite advancements in individual retrieval methods, multi-channel fusion, the process of efficiently merging multi-channel retrieval results, remains underexplored. We are the first to identify and systematically investigate multi-channel fusion in the retrieval stage. Current industry practices often rely on heuristic approaches and manual designs, which often lead to suboptimal performance. Moreover, traditional gradient-based methods like SGD are unsuitable for this task due to the non-differentiable nature of the selection process. In this paper, we explore advanced channel fusion strategies by assigning systematically optimized weights to each channel. We utilize black-box optimization techniques, including the Cross Entropy Method and Bayesian Optimization for global weight optimization, alongside policy gradient-based approaches for personalized merging. Our methods enhance both personalization and flexibility, achieving significant performance improvements across multiple datasets and yielding substantial gains in real-world deployments, offering a scalable solution for optimizing multi-channel fusion in retrieval.

World Model-based Perception for Visual Legged Locomotion

Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often data-inefficient and intricate. To address this issue, traditional methods attempt to learn a teacher policy with access to privileged information first and then learn a student policy to imitate the teacher's behavior with visual input. Despite some progress, this imitation framework prevents the student policy from achieving optimal performance due to the information gap between inputs. Furthermore, the learning process is unnatural since animals intuitively learn to traverse different terrains based on their understanding of the world without privileged knowledge. Inspired by this natural ability, we propose a simple yet effective method, World Model-based Perception (WMP), which builds a world model of the environment and learns a policy based on the world model. We illustrate that though completely trained in simulation, the world model can make accurate predictions of real-world trajectories, thus providing informative signals for the policy controller. Extensive simulated and real-world experiments demonstrate that WMP outperforms state-of-the-art baselines in traversability and robustness. Videos and Code are available at: https://wmp-loco.github.io/.

RethinkMCTS: Refining Erroneous Thoughts in Monte Carlo Tree Search for Code Generation

LLM agents enhanced by tree search algorithms have yielded notable performances in code generation. However, current search algorithms in this domain suffer from low search quality due to several reasons: 1) Ineffective design of the search space for the high-reasoning demands of code generation tasks, 2) Inadequate integration of code feedback with the search algorithm, and 3) Poor handling of negative feedback during the search, leading to reduced search efficiency and quality. To address these challenges, we propose to search for the reasoning process of the code and use the detailed feedback of code execution to refine erroneous thoughts during the search. In this paper, we introduce RethinkMCTS, which employs the Monte Carlo Tree Search (MCTS) algorithm to conduct thought-level searches before generating code, thereby exploring a wider range of strategies. More importantly, we construct verbal feedback from fine-grained code execution feedback to refine erroneous thoughts during the search. This ensures that the search progresses along the correct reasoning paths, thus improving the overall search quality of the tree by leveraging execution feedback. Through extensive experiments, we demonstrate that RethinkMCTS outperforms previous search-based and feedback-based code generation baselines. On the HumanEval dataset, it improves the pass@1 of GPT-3.5-turbo from 70.12 to 89.02 and GPT-4o-mini from 87.20 to 94.51. It effectively conducts more thorough exploration through thought-level searches and enhances the search quality of the entire tree by incorporating rethink operation.