GenAI4ELab/papercli-papers huggingface dataset:
Towards Audio-Visual Navigation in Noisy Environments: A Large-Scale Benchmark Dataset and an Architecture Considering Multiple Sound-Sources
Authors: Zhanbo Shi; Lin Zhang; Linfei Li; Ying Shen
Venue: AAAI 2025 (main)

Abstract: Audio-visual navigation has received considerable attention in recent years. However, the majority of related investigations have focused on single sound-source scenarios. Studies in this field for multiple sound-source scenarios remain underexplored due to the limitations of two aspects. First, the existing audio-visual navigation dataset only has limited audio samples, making it difficult to simulate diverse multiple sound-source environments. Second, existing navigation frameworks are mainly designed for single sound-source scenarios, thus their performance is severely reduced in multiple sound-source scenarios. In this work, we make an attempt to fill in these two research gaps to some extent. First, we establish a large-scale BEnchmark Dataset for Audio-Vsual Navigation, namely BeDAViN. This dataset consists of 2,258 audio samples with a total duration of 10.8 hours, which is more than 33 times longer than the existing audio dataset employed in the audio-visual navigation task. Second, we propose a new Embodied Navigation framework for MUltiple Sound-Sources Scenarios called ENMuS3. There are mainly two essential components in ENMuS3, the sound event descriptor and the multi-scale scene memory transformer. The former component equips the agent with the ability to extract spatial and semantic features of the target sound-source among multiple sound-sources, while the latter provides the ability to track the target object effectively in noisy environments. Experimental results on our BeDAViN show that ENMuS3 strongly outperforms its counterparts with a significant improvement in success rates across diverse scenarios.
Discovering Conceptual Knowledge with Analytic Ontology Templates for Articulated Objects
Authors: Jianhua Sun; Yuxuan Li; Longfei Xu; Jiude Wei; Liang Chai; Cewu Lu
Venue: AAAI 2025 (main)

Abstract: Human cognition can leverage fundamental conceptual knowledge, like geometry and kinematic ones, to appropriately perceive, comprehend and interact with novel objects. Motivated by this finding, we aim to endow machine intelligence with an analogous capability through performing at the conceptual level, in order to understand and then interact with articulated objects, especially for those in novel categories, which is challenging due to the intricate geometric structures and diverse joint types of articulated objects. To achieve this goal, we propose Analytic Ontology Template (AOT), a parameterized and differentiable program description of generalized conceptual ontologies. A baseline approach called AOTNet driven by AOTs is designed accordingly to equip intelligent agents with these generalized concepts, and then empower the agents to effectively discover the conceptual knowledge on the structure and affordance of articulated objects. The AOT-driven approach yields benefits in three key perspectives: i) enabling concept-level understanding of articulated objects without relying on any real training data, ii) providing analytic structure information, and iii) introducing rich affordance information indicating proper ways of interaction. We conduct exhaustive experiments and the results demonstrate the superiority of our approach in understanding and then interacting with articulated objects.
Instruction-Augmented Long-Horizon Planning: Embedding Grounding Mechanisms in Embodied Mobile Manipulation
Authors: Fangyuan Wang; Shipeng Lyu; Peng Zhou; Anqing Duan; Guodong Guo; David Navarro-Alarcon
Venue: AAAI 2025 (main)

Abstract: Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language models (LLMs), there has been a notable increase in the development of LLM-based planners. These approaches either utilize human-provided textual representations of the real world or heavily depend on prompt engineering to extract such representations, lacking the capability to quantitatively understand the environment, such as determining the feasibility of manipulating objects. To address these limitations, we present the Instruction-Augmented Long-Horizon Planning (IALP) system, a novel framework that employs LLMs to generate feasible and optimal actions based on real-time sensor feedback, including grounded knowledge of the environment, in a closed-loop interaction. Distinct from prior works, our approach augments user instructions into PDDL problems by leveraging both the abstract reasoning capabilities of LLMs and grounding mechanisms. By conducting various real-world long-horizon tasks, each consisting of seven distinct manipulatory skills, our results demonstrate that the IALP system can efficiently solve these tasks with an average success rate exceeding 80%. Our proposed method can operate as a high-level planner, equipping robots with substantial autonomy in unstructured environments through the utilization of multi-modal sensor inputs.
BEVSync: Asynchronous Data Alignment for Camera-based Vehicle-Infrastructure Cooperative Perception Under Uncertain Delays
Authors: Wentao Wang; Jiaqian Wang; Yuxin Deng; Guang Tan
Venue: AAAI 2025 (main)

Abstract: Vehicle-to-infrastructure (V2I) cooperative perception systems can enhance the sensing abilities of autonomous vehicles. Existing V2I solutions often consider LiDARs devices instead of cameras, the most prevalent sensors with low cost and wide installation. In addition, a major challenge that has been underexplored is the time asynchrony between image frames from different sources. This asynchrony arises because of clock differences, varying times involved in data processing and transmission, causing uncertain delays that complicate data alignment and potentially reduce perception accuracy. We propose BEVSync, a camera-based V2I cooperative perception system that adaptively aligns frames from the ego-vehicle and infrastructure by compensating for motion deviations. Specifically, we develop an extractor-compensator model to extract and predict perceptual features using historical frames, thereby smoothing out the data misalignment. Experiments on the real-world dataset DAIR-V2X show that our approach surpasses existing methods in terms of performance and robustness.
NaviFormer: A Spatio-Temporal Context-Aware Transformer for Object Navigation
Authors: Wei Xie; Haobo Jiang; Yun Zhu; Jianjun Qian; Jin Xie
Venue: AAAI 2025 (main)

Abstract: Learning discriminative state representations of agents, encompassing the spatial layout and temporal pose trajectory, is essential for effective navigation decisions. However, existing approaches often rely on simplistic plain networks for navigation information fusion, overlooking the complex long-range dependencies across spatio-temporal cues, which leads to suboptimal state perception and potential decision failures. In this paper, we introduce NaviFormer, an effective encoder-decoder navigation transformer, to aggregate discriminative spatio-temporal context information for object navigation. Our navigation encoder not only encodes spatial layouts and temporal agent poses but also innovatively constructs and encodes a passable frontier map, enriching the original state encoding with cues of potential exploration regions. Furthermore, our navigation decoder employs spatio-temporal self-attention and cross-attention mechanisms to model the dependencies among spatial layout encoding, temporal pose encoding, and passable frontier encoding, thereby facilitating comprehensive contextual state feature aggregation. Finally, we leverage these learned spatio-temporal contextual state representations for PPO-based navigation decisions. Extensive experiments on the Gibson,  Habitat-Matterport3D (HM3D) and Matterport3D (MP3D) datasets demonstrate the superiority of our approach.
Neural Assembler: Learning to Generate Fine-Grained Robotic Assembly Instructions from Multi-View Images
Authors: Hongyu Yan; Yadong Mu
Venue: AAAI 2025 (main)

Abstract: Image-guided object assembly represents a burgeoning research topic in computer vision. This paper introduces a novel task: translating multi-view images of a structural 3D model (for example, one constructed with building blocks drawn from a 3D-object library) into a detailed sequence of assembly instructions executable by a robotic arm. Fed with multi-view images of the target 3D model for replication, the model designed for this task must address several sub-tasks, including recognizing individual components used in constructing the 3D model, estimating the geometric pose of each component, and deducing a feasible assembly order adhering to physical rules. Establishing accurate 2D-3D correspondence between multi-view images and 3D objects is technically challenging. To tackle this, we propose an end-to-end model known as the Neural Assembler. This model learns an object graph where each vertex represents recognized components from the images, and the edges specify the topology of the 3D model, enabling the derivation of an assembly plan. We establish benchmarks for this task and conduct comprehensive empirical evaluations of Neural Assembler and alternative solutions. Our experiments clearly demonstrate the superiority of Neural Assembler.
Online Guidance Graph Optimization for Lifelong Multi-Agent Path Finding
Authors: Hongzhi Zang; Yulun Zhang; He Jiang; Zhe Chen; Daniel Harabor; Peter J. Stuckey; Jiaoyang Li
Venue: AAAI 2025 (main)

Abstract: We study the problem of optimizing a guidance policy capable of dynamically guiding the agents for lifelong Multi-Agent Path Finding based on real-time traffic patterns. Multi-Agent Path Finding (MAPF) focuses on moving multiple agents from their starts to goals without collisions. Its lifelong variant, LMAPF, continuously assigns new goals to agents. In this work, we focus on improving the solution quality of PIBT, a state-of-the-art rule-based LMAPF algorithm, by optimizing a policy to generate adaptive guidance. We design two pipelines to incorporate guidance in PIBT in two different ways. We demonstrate the superiority of the optimized policy over both static guidance and human-designed policies. Additionally, we explore scenarios where task distribution changes over time, a challenging yet common situation in real-world applications that is rarely explored in the literature.
GMAP: Generalized Manipulation of Articulated Objects in Robotic Using Pre-trained Model
Authors: Hongliang Zeng; Ping Zhang; Fang Li; QinPeng Yi; Tingyu Ye; Jiahua Wang
Venue: AAAI 2025 (main)

Abstract: Perception and interaction with articulated objects present a unique challenge for service robots. Although recent research has emphasized understanding articulated shapes and affordance proposals, existing methods only address isolated aspects, failing to develop comprehensive strategies for robotic perception and manipulation of articulated objects. To bridge this gap, we propose GMAP, which systematically integrates the entire process from command to perception and manipulation. Specifically, we first perform precise part-level segmentation of the object and identify the geometric and kinematic parameters of articulated joints. Then, by evaluating point-level affordance proposals, we determine the interaction poses for the robot's end-effector. Finally, the robot's execution trajectory is dynamically computed by combining commands with joint parameters and interaction points. Additionally, a key innovation of GMAP is addressing the scarcity of annotated data. We designed a multi-scale point cloud feature extraction module and introduced pre-training and fine-tuning techniques, significantly enhancing the generalization capability of the perception model. Extensive experiments demonstrate that GMAP achieves state-of-the-art (SOTA) performance in both the perception and manipulation of articulated objects and adapts to real-world scenarios.
MapExpert: Online HD Map Construction with Simple and Efficient Sparse Map Element Expert
Authors: Dapeng Zhang; Dayu Chen; Peng Zhi; Yinda Chen; Zhenlong Yuan; Chenyang Li; Sunjing; Rui Zhou; Qingguo Zhou
Venue: AAAI 2025 (main)

Abstract: Constructing online High-Definition (HD) maps is crucial for the static environment perception of autonomous driving systems (ADS). Existing solutions typically attempt to detect vectorized HD map elements with unified models; however, these methods often overlook the distinct characteristics of different non-cubic map elements, making accurate distinction challenging. To address these issues, we introduce an expert-based online HD map method, termed MapExpert. MapExpert utilizes sparse experts, distributed by our routers, to describe various non-cubic map elements accurately. Additionally, we propose an auxiliary balance loss function to distribute the load evenly across experts. Furthermore, we theoretically analyze the limitations of prevalent bird's-eye view (BEV) feature temporal fusion methods and introduce an efficient temporal fusion module called Learnable Weighted Moving Descentage. This module effectively integrates relevant historical information into the final BEV features. Combined with an enhanced slice head branch, the proposed MapExpert achieves state-of-the-art performance and maintains good efficiency on both nuScenes and Argoverse2 datasets.
FlowPolicy: Enabling Fast and Robust 3D Flow-Based Policy via Consistency Flow Matching for Robot Manipulation
Authors: Qinglun Zhang; Zhen Liu; Haoqiang Fan; Guanghui Liu; Bing Zeng; Shuaicheng Liu
Venue: AAAI 2025 (main)

Abstract: Robots can acquire complex manipulation skills by learning policies from expert demonstrations, which is often known as vision-based imitation learning. Generating policies based on diffusion and flow matching models has been shown to be effective, particularly in robotic manipulation tasks. However, recursion-based approaches are inference inefficient in working from noise distributions to policy distributions, posing a challenging trade-off between efficiency and quality. This motivates us to propose FlowPolicy, a novel framework for fast policy generation based on consistency flow matching and 3D vision. Our approach refines the flow dynamics by normalizing the self-consistency of the velocity field, enabling the model to derive task execution policies in a single inference step. Specifically, FlowPolicy conditions on the observed 3D point cloud, where consistency flow matching directly defines straight-line flows from different time states to the same action space, while simultaneously constraining their velocity values, that is, we approximate the trajectories from noise to robot actions by normalizing the self-consistency of the velocity field within the action space, thus improving the inference efficiency. We validate the effectiveness of FlowPolicy in Adroit and Metaworld, demonstrating a 7× increase in inference speed while maintaining competitive average success rates compared to state-of-the-art methods.
Loosely Synchronized Rule-Based Planning for Multi-Agent Path Finding with Asynchronous Actions
Authors: Shuai Zhou; Shizhe Zhao; Zhongqiang Ren
Venue: AAAI 2025 (main)

Abstract: Given a graph representing the workspace, Multi-Agent Path Finding (MAPF) seeks collision-free paths for multiple agents from their respective start vertex to their respective goal vertex while minimizing path costs. Although many MAPF algorithms were developed and can handle up to thousands of agents, they usually rely on the assumption that each action of the agent takes a time unit, and the actions of all agents are synchronized in a sense that the actions of agents start at the same discrete time step, which may limit their use in practice. Only a few algorithms have been developed to address asynchronous actions, and they all lie on one end of the spectrum, focusing on finding optimal solutions with limited scalability. This paper develops new planners that lie on the other end of the spectrum, trading off solution quality for scalability, by finding an unbounded sub-optimal solution for many agents. Our method leverages both search-based methods in handling asynchronous actions and techniques in rule-based planning for MAPF. We analyze the properties of our method and test it against several baselines with up to a thousand agents with asynchronous actions in various maps. Given a runtime limit, our method can handle an order of magnitude more agents than the existing methods with about 25% longer makespan.
ASP-Driven Emergency Planning for Norm Violations in Reinforcement Learning
Authors: Sebastian Adam; Thomas Eiter
Venue: AAAI 2025 (main)

Abstract: Reinforcement learning is a widely used approach for training an agent to maximize rewards in a given environment. Action policies learned with this technique see a broad range of applications in practical areas like games, healthcare, robotics, or autonomous driving. However, enforcing ethical behavior or norms based on deontic constraints that the agent should adhere to during policy execution remains a complex challenge. Especially constraints that emerge after the training can necessitate to redo policy learning, which can be costly and, more critically, time-intense. In order to mitigate this problem, we present a framework for policy fixing in case of a norm violation, which allows the agent to stay operational. Based on answer set programming (ASP), emergency plans are generated that exclude or minimize cost of norm violations by future actions in a horizon of interest. By combining and developing optimization techniques, efficient policy fixing under real-time constraints can be achieved.
Minimal Change in Modal Logic S5
Authors: Carlos Aguilera-Ventura; Jonathan Ben-Naim; Andreas Herzig
Venue: AAAI 2025 (main)

Abstract: We extend belief revision theory from propositional logic to the modal logic S5. 
Our first contribution takes the form of three new postulates (M1-M3) that go beyond the AGM ones and capture the idea of minimal change in the presence of modalities.  
Concerning the construction of modal revision operations, we work with set pseudo-distances, i.e., distances between sets of points that may violate the triangle-inequality. 
Our second contribution is the identification of three axioms (A3-A5) that go beyond the standard axioms of metrics. Loosely speaking, our main result states the following: if a pseudo-distance satisfies certain axioms, then the induced revision operation satisfies (M1-M3). We investigate three pseudo-distances from the literature (Dhaus, Dinj, Dsum), and the three induced revision operations (*Haus, *Inj, *Sum). Using our main result, we show that only *Sum satisfies (M1-M3) all together.
As a last contribution, we revisit a major criticism of AGM operations, namely that the revisions of (p ∧ q) and (p ∧ (p → q)) are identical. We show that the problem disappears if instead of material implication we use the modal operator of strict implication that can be defined in S5.
An Extension-Based Argument-Ranking Semantics: Social Rankings in Abstract Argumentation
Authors: Lars Bengel; Giovanni Buraglio; Jan Maly; Kenneth Skiba
Venue: AAAI 2025 (main)

Abstract: In this paper, we introduce a new family of argument-ranking semantics which can be seen as a refinement of the classification of arguments into skeptically accepted, credulously accepted and rejected. To this end we use so-called social ranking functions which have been developed recently to rank individuals based on their performance in groups. We provide necessary and sufficient conditions for a social ranking function to give rise to an argument-ranking semantics satisfying the desired refinement property.
Fast Computing of Dung Semantics in Acyclic Probabilistic Argumentation Frameworks
Authors: Stefano Bistarelli; Victor David; Pierre Monnin; Francesco Santini; Carlo Taticchi
Venue: AAAI 2025 (main)

Abstract: This paper presents fast and exact methods for computing the probability of an argument’s acceptance using Dung’s semantics in the Constellation paradigm of Abstract Argumentation. For (directed) Singly-Connected Graphs (SCGs), the problem can now be solved in linearithmic time instead of being exponential in the number of attacks, as reported in the literature. Moreover, in the more general case of Directed Acyclic Graphs (DAGs), we provide an algorithm whose time complexity is linearithmic in the product of the out-degree of dependent arguments, i.e., arguments reaching the argument considered for acceptance through multiple paths in the graph. We theoretically show that this complexity is lower than the lower bound of the (exact) Constellation method, which is also supported by empirical results. Our approach to DAGs is also compared with the (approximate) Monte-Carlo method, which is stopped when exact results are obtained. Within this time constraint, Monte-Carlo still outputs significant errors, underlying the fast computation of our approach.
DPCL-Diff：Temporal Knowledge Graph Reasoning Based on Graph Node Diffusion Model with Dual-Domain Periodic Contrastive Learning
Authors: Yukun Cao; LIsheng Wang; Luobin Huang
Venue: AAAI 2025 (main)

Abstract: Temporal knowledge graph (TKG) reasoning that infers future missing facts is an essential and challenging task. Predicting future events typically relies on closely related historical facts, yielding more accurate results for repetitive or periodic events. However, for future events with sparse historical interactions, the effectiveness of this method, which focuses on leveraging high-frequency historical information, diminishes. Recently, the capabilities of diffusion models in image generation have opened new opportunities for TKG reasoning. Therefore, we propose a graph node diffusion model with dual-domain periodic contrastive learning (DPCL-Diff). Graph node diffusion model (GNDiff) introduces noise into sparsely related events to simulate new events, generating high-quality data that better conforms to the actual distribution. This generative mechanism significantly enhances the model's ability to reason about new events. Additionally, the dual-domain periodic contrastive learning (DPCL) maps periodic and non-periodic event entities to Poincaré and Euclidean spaces, leveraging their characteristics to distinguish similar periodic events effectively. Experimental results on four public datasets demonstrate that DPCL-Diff significantly outperforms state-of-the-art TKG models in event prediction, demonstrating our approach's effectiveness. This study also investigates the combined effectiveness of GNDiff and DPCL in TKG tasks.