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Integrating metric time into Task And Motion Planning (TAMP) is challenging, especially when multiple objects move simultaneously. Current literature focuses on classical and numeric TAMP, not considering deadlines, motions overlapping in time, and other temporal constraints.
In this paper, we fill this gap by formalizing the problem of Temporal Task and Motion Planning (TTAMP) for multiple object navigation. We propose a novel interleaved planning technique for this problem, which leverages incremental Satisfiability Modulo Theory to ensure efficient reasoning on deadlines and action duration coupled with a motion planner supporting simultaneous object motion. Geometric data on encountered obstacles prunes unreachable symbolic regions, while temporal bounds limit the geometric search space. For multiple moving objects, our algorithm contextualizes the conflicts learned from the motion planner on overlapping actions so that entire classes of temporal plans are pruned from the search space of the task planner, ensuring the eventual termination of the interplay. We provide a comprehensive benchmark suite and demonstrate the effectiveness of our solver in these scenarios.

AAAI 2025

Temporal Task and Motion Planning with Metric Time for Multiple Object Navigation

temporal planning

technical paper

We are pleased to announce the Thirty-Ninth AAAI Conference on Artificial Intelligence (AAAI-25), which will be held in Philadelphia, Pennsylvania at the Pennsylvania Convention Center from February 25 to March 4, 2025.

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

### [Invited Speakers](https://aaai.org/conference/aaai/aaai-25/aaai-25-invited-speakers/)

Register [here](https://aaai.org/conference/aaai/aaai-25/registration/)

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.



Recent advances in large language model assistants have made them indispensable, raising significant concerns over managing their safety. Automated red teaming offers a promising alternative to the labor-intensive and error-prone manual probing for vulnerabilities, providing more consistent and scalable safety evaluations. However, existing approaches often compromise diversity by focusing on maximizing attack success rate. Additionally, methods that decrease the cosine similarity from historical embeddings with semantic diversity rewards lead to novelty stagnation as history grows. To address these issues, we introduce DiveR-CT, which relaxes conventional constraints on the objective and semantic reward, granting greater freedom for the policy to enhance diversity. Our experiments demonstrate DiveR-CT's marked superiority over baselines by 1) generating data that perform better in various diversity metrics across different attack success rate levels, 2) better-enhancing resiliency in blue team models through safety tuning based on collected data, 3) allowing dynamic control of objective weights for reliable and controllable attack success rates, and 4) reducing susceptibility to reward overoptimization. Overall, our method provides an effective and efficient approach to LLM red teaming, accelerating real-world deployment.

DiveR-CT: Diversity-enhanced Red Teaming Large Language Model Assistants with Relaxing Constraints

To address catastrophic forgetting in Continual Relation Extraction (CRE), many current approaches rely on memory buffers to rehearse previously learned knowledge while acquiring new tasks. Recently, prompt-based methods have emerged as potent alternatives to rehearsal-based strategies, demonstrating strong empirical performance. However, upon analyzing existing prompt-based approaches for CRE, we identified several critical limitations, such as inaccurate prompt selection, inadequate mechanisms for mitigating forgetting in shared parameters, and suboptimal handling of cross-task and within-task variances. To overcome these challenges, we draw inspiration from the relationship between prefix tuning and mixture of experts, proposing a novel approach that employs a prompt pool for each task, capturing variations within each task while enhancing cross-task variances. Furthermore, we incorporate a generative model to consolidate prior knowledge within shared parameters, eliminating the need for explicit data storage. Extensive experiments validate the efficacy of our approach, demonstrating superior performance over state-of-the-art prompt-based and rehearsal-free methods in continual relation extraction.

Adaptive Prompting for Continual Relation Extraction: A Within-Task Variance Perspective

The profusion of knowledge encoded in large language models (LLMs) and their ability to apply this knowledge zero-shot in a range of settings makes them promising candidates for use in decision-making. However, they are currently limited by their inability to provide outputs which can be faithfully explained and effectively contested to correct  mistakes. In this paper, we attempt to reconcile these strengths and weaknesses by introducing argumentative LLMs (aLLMs), a method for augmenting LLMs with argumentative reasoning. Concretely, aLLMs construct argumentation frameworks, which then serve as the basis for formal reasoning in support of decision-making. The interpretable nature of these argumentation frameworks and formal reasoning means that any decision made by aLLMs may be explained and contested. We evaluate aLLMs' performance experimentally in comparison with state-of-the-art techniques, in the context of the decision-making task of claim verification. We also define novel properties to characterise contestability and assess aLLMs formally in terms of these properties.

Argumentative Large Language Models for Explainable and Contestable Claim Verification

In this paper, we consider the problem of fair division of indivisible goods, where the allocation of goods impacts society. Specifically, we introduce a second valuation function for each agent, which determines the social impact of allocating a good to the agent. Such impact is considered desirable for the society -- the higher, the better. Our goal is to understand how to allocate goods fairly from the agents' perspective while maintaining society as happy as possible. To this end, we measure the impact on society using the utilitarian social welfare, and provide both possibility and impossibility results.
Our findings reveal that achieving good approximations, better than linear in the number of agents, is not possible while ensuring fairness to the agents. These impossibility results can be attributed to the fact that agents are completely unconscious of their social impact. 
Consequently, we explore scenarios where agents are socially aware, by introducing related fairness notions, and demonstrate that an appropriate definition of fairness is compatible with the social objective.

Fair Division with Social Impact

Video captioning automatically generates natural language phrases to explain the contents in video frames. When deploying captioning models in specialized domains, active learning can help to reduce the high annotation cost. However, existing active video caption methods rely on conventional uncertainty estimation, which can be  highly unreliable due to the novel challenge caused by the generative nature of the captioning process, which is much more complex than standard supervised learning tasks. Both our empirical evaluation and theoretical investigation reveal that entropy-based uncertainty estimation is in fact inflated, which will mislead active video sampling. Another challenge arises from the rich content of videos, as each video could be described in multiple ways. 
A single uncertainty score obtained from one possible caption does not capture the diversity induced by the rich content. To fill out this critical gap, we propose to identify multiple sources of uncertainty and perform novel hierarchical aggregation to integrate uncertainty from distinct sources mathematically. This innovates a holistic uncertainty metric to quantify the overall informativeness of video content for active sampling. The overall uncertainty is built upon conditional vacuity, which is a novel extension of the second-order uncertainty introduced along with the evidential learning framework to the generative setting, leading to more robust uncertainty estimation without inflation.  Both theoretical analysis and experimental evaluation are conducted to justify the effectiveness of the proposed framework for complex uncertainty estimation and interactive learning.

Hierarchical Multi-Source Uncertainty Aggregation for Interactive Video Captioning

Deep learning based dehazing networks trained on paired synthetic data have shown impressive performance, but they struggle with significant degradation in generalization ability on real-world hazy scenes. In this paper, we propose a lightweight Retinex-based Generative Adversarial \textbf{N}etwork (RetinexGAN) for real-world image dehazing using unpaired data. Our RetinexGAN consists of two stages: self-supervised pre-training and weakly-supervised fine-tuning. During the pre-training, we reduce the image dehazing task to an illumination-reflectance decomposition task based on the duality correlation between Retinex and dehazing. Specifically, a decomposition network named DecomNet is constructed to obtain an illumination and a reflectance, simultaneously. Moreover, a self-supervised learning strategy is developed to construct the connection between the preliminary dehazed result and the input hazy image, which constrains the solution space of DecomNet and accelerates training, leading to a more realistic dehazed result. In the fine-tuning stage, we develop a dual DTCWT-based attention module and embed it into the U-Net architecture to further improve the quality of preliminary result in the frequency domain. In addition, the adversarial learning is employed to constrain the relevance between the clean image and the final dehazed result in a weakly supervised manner, which can promote more natural performance. Extensive experiments on several real-world datasets demonstrate that our proposed RetinexGAN performs favorably over state-of-the-art dehazing methods in visual quality and quantitative evaluation.

Dehaze-RetinexGAN: Real-World Image Dehazing via Retinex-based Generative Adversarial Network

Procedural Content Generation via Machine Learning (PCGML) has enhanced game content creation, yet challenges in controllability and limited training data persist. This study addresses these issues by distilling a constructive PCG algorithm into a controllable PCGML model. We first generate a large amount of content with a constructive algorithm and label it using a Large Language Model (LLM). We use these synthetic labels to condition two PCGML models for content-specific generation, a diffusion model and the five-dollar model. This neural network distillation process ensures that the generation aligns with the original algorithm while introducing controllability through plain text. We define this text-conditioned PCGML as a Text-to-game-Map (T2M) task, offering an alternative to prevalent text-to-image multi-modal tasks. We compare our distilled models with the baseline constructive algorithm. Our analysis of the variety, accuracy, and quality of our generation demonstrates the efficacy of distilling constructive methods into controllable text-conditioned PCGML models.

Moonshine: Distilling Game Content Generators into Steerable Generative Models

Learning agents that excel at sequential decision-making tasks must continuously resolve the problem of exploration and exploitation for optimal learning. However, such interactions with the environment online might be prohibitively expensive and may involve some constraints, such as a limited budget for agent-environment interactions and restricted exploration in certain regions of the state space. Examples include selecting candidates for medical trials and training agents in complex navigation environments. This problem necessitates the study of active reinforcement learning strategies that collect minimal additional experience trajectories by reusing existing offline data previously collected by some unknown behavior policy.  In this work, we propose a representation-aware uncertainty-based active trajectory collection method that intelligently decides interaction strategies that consider the distribution of the existing offline data. With extensive experimentation, we demonstrate that our proposed method reduces additional online interaction with the environment by up to 75% over competitive baselines across various continuous control environments.

Active Reinforcement Learning Strategies for Offline Policy Improvement

Previous graph neural networks (GNNs) usually assume that the graph data is with clean labels for representation learning, but it is not true in real applications. In this paper, we propose a new multi-teacher distillation method based on bi-level optimization (namely BO-NNC), to conduct noisy node classification on the graph data. 
Specifically, we first employ multiple self-supervised learning methods to train diverse teacher models, and then aggregate their predictions through a teacher weight matrix. Furthermore, we design a new bi-level optimization strategy to dynamically adjust the teacher weight matrix based on the training progress of the student model. Finally, we  design a label improvement module to improve the label quality. 
Extensive experimental results on real datasets show that our method achieves the best results compared to state-of-the-art methods. The source code is listed in Supplementary Materials.

Noisy Node Classification by Bi-level Optimization based Multi-teacher Distillation

Existing studies explore the explainability of Grammatical Error Correction (GEC) in a limited scenario, where they ignore the interaction between corrections and explanations and have not establish a corresponding comprehensive benchmark. To bridge the gap, this paper first introduces the task of EXplainable GEC (**EXGEC**), which focuses on the integral role of both correction and explanation tasks. To facilitate the task, we propose **EXCGEC**, a tailored benchmark for Chinese EXGEC consisting of 8,216 explanation-augmented samples featuring the design of hybrid edit-wise explanations. We then benchmark several series of LLMs in multi-task learning settings, including post-explaining and pre-explaining. To promote the development of the task, we also build a comprehensive suite of evaluation by leveraging existing automatic metrics and conduct human evaluation experiments to demonstrate the human consistency of the automatic metrics for free-text explanations. Our experiments reveal the effectiveness of evaluating free-text explanations using traditional metrics like METEOR and ROUGE, and the inferior performance of multi-task models compared to the pipeline solution, indicating its challenges to establish positive effects in learning the both tasks. All the codes and data will be released after the review.

Temporal Task and Motion Planning with Metric Time for Multiple Object Navigation

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DiveR-CT: Diversity-enhanced Red Teaming Large Language Model Assistants with Relaxing Constraints