3D UAV Trajectory Planning for IoT Data Collection via Matrix-Based Evolutionary Computation

UAVs are increasingly becoming vital tools in various wireless communication applications including internet of things (IoT) and sensor networks, thanks to their rapid and agile non-terrestrial mobility. Despite recent research, planning three-dimensional (3D) UAV trajectories over a continuous temporal-spatial domain remains challenging due to the need to solve computationally intensive optimization problems. In this paper, we study UAV-assisted IoT data collection aimed at minimizing total energy consumption while accounting for the UAV's physical capabilities, the heterogeneous data demands of IoT nodes, and 3D terrain. We propose a matrix-based differential evolution with constraint handling (MDE-CH), a computation-efficient evolutionary algorithm designed to address non-convex constrained optimization problems with several different types of constraints. Numerical evaluations demonstrate that the proposed MDE-CH algorithm provides a continuous 3D temporal-spatial UAV trajectory capable of efficiently minimizing energy consumption under various practical constraints and outperforms the conventional fly-hover-fly model for both two-dimensional (2D) and 3D trajectory planning.

BELT-2: Bootstrapping EEG-to-Language representation alignment for multi-task brain decoding

The remarkable success of large language models (LLMs) across various multi-modality applications is well established. However, integrating large language models with humans, or brain dynamics, remains relatively unexplored. In this paper, we introduce BELT-2, a pioneering multi-task model designed to enhance both encoding and decoding performance from EEG signals. To bolster the quality of the EEG encoder, BELT-2 is the first work to innovatively 1) adopt byte-pair encoding (BPE)-level EEG-language alignment and 2) integrate multi-task training and decoding in the EEG domain. Inspired by the idea of \textbf{\textit{Bridging the Brain with GPT}}, we further connect the multi-task EEG encoder with LLMs by utilizing prefix-tuning on intermediary output from the EEG encoder. These innovative efforts make BELT-2 a pioneering breakthrough, making it the first work in the field capable of decoding coherent and readable sentences from non-invasive brain signals. Our experiments highlight significant advancements over prior techniques in both quantitative and qualitative measures, achieving a decoding performance with a BLEU-1 score of 52.2\% on the ZuCo dataset. Furthermore, BELT-2 shows a remarkable improvement ranging from 31\% to 162\% on other translation benchmarks. Codes can be accessed via the provided anonymous link~\footnote{https://anonymous.4open.science/r/BELT-2-0048}.

SpeechPrompt: Prompting Speech Language Models for Speech Processing Tasks

Prompting has become a practical method for utilizing pre-trained language models (LMs). This approach offers several advantages. It allows an LM to adapt to new tasks with minimal training and parameter updates, thus achieving efficiency in both storage and computation. Additionally, prompting modifies only the LM's inputs and harnesses the generative capabilities of language models to address various downstream tasks in a unified manner. This significantly reduces the need for human labor in designing task-specific models. These advantages become even more evident as the number of tasks served by the LM scales up. Motivated by the strengths of prompting, we are the first to explore the potential of prompting speech LMs in the domain of speech processing. Recently, there has been a growing interest in converting speech into discrete units for language modeling. Our pioneer research demonstrates that these quantized speech units are highly versatile within our unified prompting framework. Not only can they serve as class labels, but they also contain rich phonetic information that can be re-synthesized back into speech signals for speech generation tasks. Specifically, we reformulate speech processing tasks into speech-to-unit generation tasks. As a result, we can seamlessly integrate tasks such as speech classification, sequence generation, and speech generation within a single, unified prompting framework. The experiment results show that the prompting method can achieve competitive performance compared to the strong fine-tuning method based on self-supervised learning models with a similar number of trainable parameters. The prompting method also shows promising results in the few-shot setting. Moreover, with the advanced speech LMs coming into the stage, the proposed prompting framework attains great potential.

Enhancing End-to-End Autonomous Driving Systems Through Synchronized Human Behavior Data

This paper presents a pioneering exploration into the integration of fine-grained human supervision within the autonomous driving domain to enhance system performance. The current advances in End-to-End autonomous driving normally are data-driven and rely on given expert trials. However, this reliance limits the systems' generalizability and their ability to earn human trust. Addressing this gap, our research introduces a novel approach by synchronously collecting data from human and machine drivers under identical driving scenarios, focusing on eye-tracking and brainwave data to guide machine perception and decision-making processes. This paper utilizes the Carla simulation to evaluate the impact brought by human behavior guidance. Experimental results show that using human attention to guide machine attention could bring a significant improvement in driving performance. However, guidance by human intention still remains a challenge. This paper pioneers a promising direction and potential for utilizing human behavior guidance to enhance autonomous systems.

Masked EEG Modeling for Driving Intention Prediction

Driving under drowsy conditions significantly escalates the risk of vehicular accidents. Although recent efforts have focused on using electroencephalography to detect drowsiness, helping prevent accidents caused by driving in such states, seamless human-machine interaction in driving scenarios requires a more versatile EEG-based system. This system should be capable of understanding a driver's intention while demonstrating resilience to artifacts induced by sudden movements. This paper pioneers a novel research direction in BCI-assisted driving, studying the neural patterns related to driving intentions and presenting a novel method for driving intention prediction. In particular, our preliminary analysis of the EEG signal using independent component analysis suggests a close relation between the intention of driving maneuvers and the neural activities in central-frontal and parietal areas. Power spectral density analysis at a group level also reveals a notable distinction among various driving intentions in the frequency domain. To exploit these brain dynamics, we propose a novel Masked EEG Modeling framework for predicting human driving intentions, including the intention for left turning, right turning, and straight proceeding. Extensive experiments, encompassing comprehensive quantitative and qualitative assessments on public dataset, demonstrate the proposed method is proficient in predicting driving intentions across various vigilance states. Specifically, our model attains an accuracy of 85.19% when predicting driving intentions for drowsy subjects, which shows its promising potential for mitigating traffic accidents related to drowsy driving. Notably, our method maintains over 75% accuracy when more than half of the channels are missing or corrupted, underscoring its adaptability in real-life driving.

Towards Linguistic Neural Representation Learning and Sentence Retrieval from Electroencephalogram Recordings

Decoding linguistic information from non-invasive brain signals using EEG has gained increasing research attention due to its vast applicational potential. Recently, a number of works have adopted a generative-based framework to decode electroencephalogram (EEG) signals into sentences by utilizing the power generative capacity of pretrained large language models (LLMs). However, this approach has several drawbacks that hinder the further development of linguistic applications for brain-computer interfaces (BCIs). Specifically, the ability of the EEG encoder to learn semantic information from EEG data remains questionable, and the LLM decoder's tendency to generate sentences based on its training memory can be hard to avoid. These issues necessitate a novel approach for converting EEG signals into sentences. In this paper, we propose a novel two-step pipeline that addresses these limitations and enhances the validity of linguistic EEG decoding research. We first confirm that word-level semantic information can be learned from EEG data recorded during natural reading by training a Conformer encoder via a masked contrastive objective for word-level classification. To achieve sentence decoding results, we employ a training-free retrieval method to retrieve sentences based on the predictions from the EEG encoder. Extensive experiments and ablation studies were conducted in this paper for a comprehensive evaluation of the proposed approach. Visualization of the top prediction candidates reveals that our model effectively groups EEG segments into semantic categories with similar meanings, thereby validating its ability to learn patterns from unspoken EEG recordings. Despite the exploratory nature of this work, these results suggest that our method holds promise for providing more reliable solutions for converting EEG signals into text.

MaskFuser: Masked Fusion of Joint Multi-Modal Tokenization for End-to-End Autonomous Driving

Current multi-modality driving frameworks normally fuse representation by utilizing attention between single-modality branches. However, the existing networks still suppress the driving performance as the Image and LiDAR branches are independent and lack a unified observation representation. Thus, this paper proposes MaskFuser, which tokenizes various modalities into a unified semantic feature space and provides a joint representation for further behavior cloning in driving contexts. Given the unified token representation, MaskFuser is the first work to introduce cross-modality masked auto-encoder training. The masked training enhances the fusion representation by reconstruction on masked tokens. Architecturally, a hybrid-fusion network is proposed to combine advantages from both early and late fusion: For the early fusion stage, modalities are fused by performing monotonic-to-BEV translation attention between branches; Late fusion is performed by tokenizing various modalities into a unified token space with shared encoding on it. MaskFuser respectively reaches a driving score of 49.05 and route completion of 92.85% on the CARLA LongSet6 benchmark evaluation, which improves the best of previous baselines by 1.74 and 3.21%. The introduced masked fusion increases driving stability under damaged sensory inputs. MaskFuser outperforms the best of previous baselines on driving score by 6.55 (27.8%), 1.53 (13.8%), 1.57 (30.9%), respectively given sensory masking ratios 25%, 50%, and 75%.

Contrastive learning-based agent modeling for deep reinforcement learning

Multi-agent systems often require agents to collaborate with or compete against other agents with diverse goals, behaviors, or strategies. Agent modeling is essential when designing adaptive policies for intelligent machine agents in multiagent systems, as this is the means by which the ego agent understands other agents' behavior and extracts their meaningful policy representations. These representations can be used to enhance the ego agent's adaptive policy which is trained by reinforcement learning. However, existing agent modeling approaches typically assume the availability of local observations from other agents (modeled agents) during training or a long observation trajectory for policy adaption. To remove these constrictive assumptions and improve agent modeling performance, we devised a Contrastive Learning-based Agent Modeling (CLAM) method that relies only on the local observations from the ego agent during training and execution. With these observations, CLAM is capable of generating consistent high-quality policy representations in real-time right from the beginning of each episode. We evaluated the efficacy of our approach in both cooperative and competitive multi-agent environments. Our experiments demonstrate that our approach achieves state-of-the-art on both cooperative and competitive tasks, highlighting the potential of contrastive learning-based agent modeling for enhancing reinforcement learning.

BELT:Bootstrapping Electroencephalography-to-Language Decoding and Zero-Shot Sentiment Classification by Natural Language Supervision

This paper presents BELT, a novel model and learning framework for the pivotal topic of brain-to-language translation research. The translation from noninvasive brain signals into readable natural language has the potential to promote the application scenario as well as the development of brain-computer interfaces (BCI) as a whole. The critical problem in brain signal decoding or brain-to-language translation is the acquisition of semantically appropriate and discriminative EEG representation from a dataset of limited scale and quality. The proposed BELT method is a generic and efficient framework that bootstraps EEG representation learning using off-the-shelf large-scale pretrained language models (LMs). With a large LM's capacity for understanding semantic information and zero-shot generalization, BELT utilizes large LMs trained on Internet-scale datasets to bring significant improvements to the understanding of EEG signals. In particular, the BELT model is composed of a deep conformer encoder and a vector quantization encoder. Semantical EEG representation is achieved by a contrastive learning step that provides natural language supervision. We achieve state-of-the-art results on two featuring brain decoding tasks including the brain-to-language translation and zero-shot sentiment classification. Specifically, our model surpasses the baseline model on both tasks by 5.45% and over 10% and archives a 42.31% BLEU-1 score and 67.32% precision on the main evaluation metrics for translation and zero-shot sentiment classification respectively.

SpeechPrompt v2: Prompt Tuning for Speech Classification Tasks

Prompt tuning is a technology that tunes a small set of parameters to steer a pre-trained language model (LM) to directly generate the output for downstream tasks. Recently, prompt tuning has demonstrated its storage and computation efficiency in both natural language processing (NLP) and speech processing fields. These advantages have also revealed prompt tuning as a candidate approach to serving pre-trained LM for multiple tasks in a unified manner. For speech processing, SpeechPrompt shows its high parameter efficiency and competitive performance on a few speech classification tasks. However, whether SpeechPrompt is capable of serving a large number of tasks is unanswered. In this work, we propose SpeechPrompt v2, a prompt tuning framework capable of performing a wide variety of speech classification tasks, covering multiple languages and prosody-related tasks. The experiment result shows that SpeechPrompt v2 achieves performance on par with prior works with less than 0.15M trainable parameters in a unified framework.