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.

A Survey on Diffusion Models for Recommender Systems

While traditional recommendation techniques have made significant strides in the past decades, they still suffer from limited generalization performance caused by factors like inadequate collaborative signals, weak latent representations, and noisy data. In response, diffusion models (DMs) have emerged as promising solutions for recommender systems due to their robust generative capabilities, solid theoretical foundations, and improved training stability. To this end, in this paper, we present the first comprehensive survey on diffusion models for recommendation, and draw a bird's-eye view from the perspective of the whole pipeline in real-world recommender systems. We systematically categorize existing research works into three primary domains: (1) diffusion for data engineering & encoding, focusing on data augmentation and representation enhancement; (2) diffusion as recommender models, employing diffusion models to directly estimate user preferences and rank items; and (3) diffusion for content presentation, utilizing diffusion models to generate personalized content such as fashion and advertisement creatives. Our taxonomy highlights the unique strengths of diffusion models in capturing complex data distributions and generating high-quality, diverse samples that closely align with user preferences. We also summarize the core characteristics of the adapting diffusion models for recommendation, and further identify key areas for future exploration, which helps establish a roadmap for researchers and practitioners seeking to advance recommender systems through the innovative application of diffusion models. To further facilitate the research community of recommender systems based on diffusion models, we actively maintain a GitHub repository for papers and other related resources in this rising direction https://github.com/CHIANGEL/Awesome-Diffusion-for-RecSys.

Efficient and Deployable Knowledge Infusion for Open-World Recommendations via Large Language Models

Recommender systems (RSs) play a pervasive role in today's online services, yet their closed-loop nature constrains their access to open-world knowledge. Recently, large language models (LLMs) have shown promise in bridging this gap. However, previous attempts to directly implement LLMs as recommenders fall short in meeting the requirements of industrial RSs, particularly in terms of online inference latency and offline resource efficiency. Thus, we propose REKI to acquire two types of external knowledge about users and items from LLMs. Specifically, we introduce factorization prompting to elicit accurate knowledge reasoning on user preferences and items. We develop individual knowledge extraction and collective knowledge extraction tailored for different scales of scenarios, effectively reducing offline resource consumption. Subsequently, generated knowledge undergoes efficient transformation and condensation into augmented vectors through a hybridized expert-integrated network, ensuring compatibility. The obtained vectors can then be used to enhance any conventional recommendation model. We also ensure efficient inference by preprocessing and prestoring the knowledge from LLMs. Experiments demonstrate that REKI outperforms state-of-the-art baselines and is compatible with lots of recommendation algorithms and tasks. Now, REKI has been deployed to Huawei's news and music recommendation platforms and gained a 7% and 1.99% improvement during the online A/B test.

A Decoding Acceleration Framework for Industrial Deployable LLM-based Recommender Systems

Recently, increasing attention has been paid to LLM-based recommender systems, but their deployment is still under exploration in the industry. Most deployments utilize LLMs as feature enhancers, generating augmentation knowledge in the offline stage. However, in recommendation scenarios, involving numerous users and items, even offline generation with LLMs consumes considerable time and resources. This generation inefficiency stems from the autoregressive nature of LLMs, and a promising direction for acceleration is speculative decoding, a Draft-then-Verify paradigm that increases the number of generated tokens per decoding step. In this paper, we first identify that recommendation knowledge generation is suitable for retrieval-based speculative decoding. Then, we discern two characteristics: (1) extensive items and users in RSs bring retrieval inefficiency, and (2) RSs exhibit high diversity tolerance for text generated by LLMs. Based on the above insights, we propose a Decoding Acceleration Framework for LLM-based Recommendation (dubbed DARE), with Customized Retrieval Pool to improve retrieval efficiency and Relaxed Verification to increase the acceptance rate of draft tokens, respectively. Extensive experiments demonstrate that DARE achieves a 3-5x speedup and is compatible with various frameworks and backbone LLMs. DARE has also been deployed to online advertising scenarios within a large-scale commercial environment, achieving a 3.45x speedup while maintaining the downstream performance.

Lifelong Personalized Low-Rank Adaptation of Large Language Models for Recommendation

We primarily focus on the field of large language models (LLMs) for recommendation, which has been actively explored recently and poses a significant challenge in effectively enhancing recommender systems with logical reasoning abilities and open-world knowledge. Current mainstream efforts mainly center around injecting personalized information from recommendation models into LLMs by customizing input templates or aligning representations between semantic and recommendation spaces at the prediction layer. However, they face three significant limitations: (1) LoRA is mostly used as a core component in existing works, but personalization is not well established in LoRA parameters as the LoRA matrix shared by every user may not cater to different users' characteristics, leading to suboptimal performance. (2) Although lifelong personalized behavior sequences are ideal for personalization, their use raises effectiveness and efficiency issues since LLMs require escalating training and inference time to extend text lengths. (3) Existing approaches aren't scalable for large datasets due to training efficiency constraints. Thus, LLMs only see a small fraction of the datasets (e.g., less than 10%) instead of the whole datasets, limiting their exposure to the full training space. To address these problems, we propose RecLoRA. This model incorporates a Personalized LoRA module that maintains independent LoRAs for different users and a Long-Short Modality Retriever that retrieves different history lengths for different modalities, significantly improving performance while adding minimal time cost. Furthermore, we design a Few2Many Learning Strategy, using a conventional recommendation model as a lens to magnify small training spaces to full spaces. Extensive experiments on public datasets demonstrate the efficacy of our RecLoRA compared to existing baseline models.