Singapore

Consider a system of multiple physical agents tasked with collaboratively collecting a set of spatially distributed goals as quickly as possible while avoiding collisions with the environment and with each other. This type of problem, which involves Multi-Agent Path Finding (MAPF) and task allocation, is called Multi-Agent Combinatorial Path Finding (MACPF). Prior work on MACPF assumed each agent has a final goal it must reach, there are no orientation constraints on the agents&#39; movements, and the agents will follow their planned actions as intended. These assumptions rarely hold in real physical robots, which limits the applicability of existing MACPF algorithms in practical applications. We propose the Robust CBSS framework, a robust planning approach that solves MACPF without the aforementioned simplifying assumptions, and provide two implementations: a baseline version (RCbssBase) and an efficient version (RCbssEff). RCbssEff generalizes the Conflict-Based Steiner Search (CBSS) algorithm, building on ideas from the p-Robust CBS algorithm and algorithms for solving the Equality Generalized Traveling Salesman Problem. We prove that RCbssEff is complete and can be configured to return optimal solutions. Experimental results on benchmark MACPF problems show that RCbssEff balances planning time, solution cost, and collision reduction compared to baselines.

AAAI 2026

Robust Multiagent Combinatorial Path Finding

multiagent combinatorial path finding robust planning multiagent path finding

We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

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We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

Consider a system of multiple physical agents tasked with collaboratively collecting a set of spatially distributed goals as quickly as possible while avoiding collisions with the environment and with each other. This type of problem, which involves Multi-Agent Path Finding (MAPF) and task allocation, is called Multi-Agent Combinatorial Path Finding (MACPF). Prior work on MACPF assumed each agent has a final goal it must reach, there are no orientation constraints on the agents' movements, and the agents will follow their planned actions as intended. These assumptions rarely hold in real physical robots, which limits the applicability of existing MACPF algorithms in practical applications. We propose the Robust CBSS framework, a robust planning approach that solves MACPF without the aforementioned simplifying assumptions, and provide two implementations: a baseline version (RCbssBase) and an efficient version (RCbssEff). RCbssEff generalizes the Conflict-Based Steiner Search (CBSS) algorithm, building on ideas from the p-Robust CBS algorithm and algorithms for solving the Equality Generalized Traveling Salesman Problem. We prove that RCbssEff is complete and can be configured to return optimal solutions. Experimental results on benchmark MACPF problems show that RCbssEff balances planning time, solution cost, and collision reduction compared to baselines.

poster

Generating safe and reliable trajectories for autonomous vehicles in long-tail scenarios remains a significant challenge. High-lateral-acceleration maneuvers (e.g., sharp turns) represent a critical subset of these rare but high-risk situations. Existing trajectory planners, often trained on imbalanced datasets, struggle in these scenarios due to insufficient exposure to relevant data, leading to incomplete decision-making information at inference time, particularly concerning the precise interplay of vehicle dynamics, road geometry, and environmental constraints at the limits of handling. Consequently, these planners generate suboptimal or unsafe trajectory predictions in high-lateral-acceleration scenarios. To address this gap, we introduce ReflexDiffusion, a novel inference-stage framework that enhances diffusion-based trajectory planners through reflective adjustment. During iterative denoising, after each standard trajectory update step, we inject an additional adjustment: explicitly amplifying critical conditioning signals (e.g., road curvature, ego lateral dynamics) by computing the gradient between conditional and unconditional noise predictions. This forces the trajectory to strictly adhere to physical constraints, especially improving stability during high-lateral-acceleration maneuvers where precise vehicle-road interaction is paramount. Evaluated on nuPlan Test14-hard benchmark, our approach elevates the driving score for high-lateral-acceleration scenarios by 14.1% over the state-of-the-art. This demonstrates that our method dynamically reinforces safety-critical constraints at handling limits, effectively compensating for training data sparsity through inference-time trajectory optimization. Moreover, our approach is highly generalizable and can be deployed to other diffusion-based planners without modifying the model architecture.

ReflexDiffusion: Reflection-Enhanced Trajectory Planning for High-lateral-acceleration Scenarios in Autonomous Driving

This paper presents a systematic investigation into the constrained generation capabilities of large language models (LLMs) in producing \textit{Songci}, a classical Chinese poetry form characterized by strict structural, tonal, and rhyme constraints defined by Cipai templates. We first develop a comprehensive, multi-faceted evaluation framework that includes: (i) a formal conformity score, (ii) automated quality assessment using LLMs, (iii) human evaluation, and (iv) classification-based probing tasks. Using this framework, we evaluate the generative performance of 18 LLMs, including 3 proprietary models and 15 open-source models across 4 families, under five prompting strategies: zero-shot, one-shot, completion-based, instruction-tuned, and chain-of-thought. Finally, we propose a Generate-Critic architecture in which the evaluation framework functions as an automated critic. Leveraging the critic’s feedback as a reward signal, we fine-tune 3 lightweight open-source LLMs via supervised fine-tuning (SFT), resulting in improvements of up to \textbf{5.88\%} in formal conformity. Our findings offer new insights into the generative strengths and limitations of LLMs in producing culturally significant and formally constrained literary texts.

PoeTone: A Framework for Constrained Generation of Structured Chinese Songci with LLMs

To date, distributional reinforcement learning (distributional RL) methods have exclusively focused on the discounted setting, where an agent aims to optimize a potentially-discounted sum of rewards over time. In this work, we extend distributional RL to the average-reward setting, where an agent aims to optimize the reward received per time-step. In particular, we utilize a quantile-based approach to develop the first set of algorithms that can successfully learn and/or optimize the long-run per-step reward distribution, as well as the differential return distribution of an average-reward MDP. We derive proven-convergent tabular algorithms for both prediction and control, as well as a broader family of algorithms that have appealing scaling properties. Empirically, we find that these algorithms yield competitive and sometimes superior performance when compared to their non-distributional equivalents, while also capturing rich information about the long-run per-step reward and differential return distributions.

A Differential Perspective on Distributional Reinforcement Learning

Human-defined creativity is highly abstract, posing a challenge for multimodal large language models (MLLMs) to comprehend and assess creativity that aligns with human judgments. The absence of an existing benchmark further exacerbates this dilemma. To this end, we propose CreBench, which consists of two key components: 1) an evaluation benchmark covering the multiple dimensions from creative idea to process to products; 2) CreMIT (Creativity Multimodal Instruction Tuning dataset), a multimodal creativity evaluation dataset, consisting of 2.2K diverse-sourced multimodal data, 79.2K human feedbacks and 4.7M multi-typed instructions. Specifically, to ensure MLLMs can handle diverse creativity-related queries, we prompt GPT to refine these human feedbacks to activate stronger creativity assessment capabilities. CreBench serves as a foundation for building MLLMs that understand human-aligned creativity. Based on the CreBench, we fine-tune open-source general MLLMs, resulting in CreExpert, a multimodal creativity evaluation expert model. Extensive experiments demonstrate that the proposed CreExpert models achieve significantly better alignment with human creativity evaluation compared to state-of-the-art MLLMs, including the most advanced GPT-4V and Gemini-Pro-Vision. To our knowledge, we are the first to propose a benchmark for creativity evaluation.

CreBench: Human-Aligned Creativity Evaluation from Idea to Process to Product

Trip recommendation aims to generate a sequence of points of interest (POIs) under a user's query input. Existing data-driven methods mainly fall into two categories: supervised approaches and self-supervised approaches. The former cannot fully capture the transition patterns among POIs, while the latter fail to comprehensively model user's query intents.
Fortunately, privileged knowledge distillation (PKD) provides us an unique opportunity to align user's query intents with its corresponding trip in historical data. However, such knowledge alignment is implicit, which may not directly reflect the query intents. To this end, in this paper, we propose EKD-Trip, an explicit intent-enhanced knowledge distillation framework. EKD-Trip first trains a trajectory encoder (teacher model) and a trip generator jointly in a self-supervised manner. Then, a query encoder (student model) is trained via multi-task learning to extract implicit knowledge by PKD from teacher and explicit knowledge from an auxiliary task, respectively. At inference time, we use the query encoder and the trip generator to recommend trips. Extensive experiments on four real-world datasets demonstrate that EKD-Trip outperforms all baselines over three metrics, with a particularly notable improvement of 13.70% in pairs-F1.

Explicit Intent-Enhanced Knowledge Distillation for Trip Recommendation

Numerical reasoning over documents, which demands both contextual understanding and logical inference, is challenging for low-capacity local models deployed on computation-constrained devices. Although such complex reasoning queries could be routed to powerful remote models like GPT-4, exposing local data raises significant data leakage concerns. Existing mitigation methods generate problem descriptions or examples for remote assistance. However, the inherent complexity of numerical reasoning hinders the local model from generating logically equivalent queries and accurately inferring answers with remote guidance. In this paper, we present a model collaboration framework with two key innovations: (1) a context-aware synthesis strategy that shifts the query topics while preserving reasoning patterns; and (2) a tool-based answer reconstruction approach that reuses the remote-generated plug-and-play solution with code snippets. Experimental results demonstrate that our method achieves better reasoning accuracy than solely using local models while providing stronger data protection than fully relying on remote models. Furthermore, our method improves accuracy by 16.2\% - 43.6\% while reducing data leakage by 2.3\% - 44.6\% compared to existing data protection approaches.

Collaborative LLM Numerical Reasoning with Local Data Protection

Personalized image generation is crucial for improving the user experience, as it renders reference images into preferred ones according to user visual preferences. Although effective, existing methods face two main issues. First, existing methods treat all items in the user's historical sequence equally when extracting user preferences, overlooking the varying semantic similarities between historical items and the reference item. Disproportionately high weights for low-similarity items distort user visual preferences for the reference item. Second, existing methods heavily rely on consistency between generated and reference images to optimize generation, which leads to underfitting user preferences and hinders personalization. To address these issues, we propose Retrieval Augmented Personalized Image GenerAtion guided by Recommendation (RAGAR). Our approach uses a retrieval mechanism to assign different weights to historical items according to their similarities to the reference item, thereby extracting more refined users' visual preferences for the reference item. Then we introduce a novel rank task based on the multi-modal ranking model to optimize the personalization of the generated images instead of forcing depend on consistency. Extensive experiments and human evaluations on three real-world datasets demonstrate that RAGAR achieves significant improvements in both personalization and semantic metrics compared to five baselines.

RAGAR: Retrieval Augmented Personalized Image Generation Guided by Recommendation

Traditional text-to-motion frameworks often lack precise control, and existing approaches based on joint keyframe locations provide only positional guidance, making it challenging and unintuitive to specify body part orientations and motion timing. To address these limitations, we introduce the Salient Orientation Symbolic (SOS) script, a programmable symbolic framework for specifying body part orientations and motion timing at keyframes.
We further propose an automatic SOS extraction pipeline that employs temporally-constrained agglomerative clustering for frame saliency detection and a Saliency-based Masking Scheme (SMS) to generate sparse, interpretable SOS scripts directly from motion data. Moreover, we present the SOSControl framework, which treats the available orientation symbols in the sparse SOS script as salient and prioritizes satisfying these constraints during motion generation. By incorporating SMS-based data augmentation and gradient-based iterative optimization, the framework enhances alignment with user-specified constraints. Additionally, it employs a ControlNet-based ACTOR-PAE Decoder to ensure smooth and natural motion outputs.
Extensive experiments demonstrate that the SOS extraction pipeline generates human-interpretable scripts with symbolic annotations at salient keyframes, while the SOSControl framework outperforms existing baselines in motion quality, controllability, and generalizability with respect to motion timing and body part orientation control.

SOSControl: Enhancing Human Motion Generation Through Saliency-Aware Symbolic Orientation and Timing Control

Despite the rich spatiotemporal patterns contained in trajectory data from multiple Location-Based Social Network (LBSN) platforms, heterogeneous formats, semantic inconsistencies, and unequal user scales across platforms create substantial barriers to reliable identity mapping. Furthermore, GPS drift and sparse sampling result in degraded data quality and distribution imbalance, which render existing trajectory representation methods inadequate for capturing high-order dependencies and dynamic spatiotemporal evolution patterns in heterogeneous multi-relational graphs.
To this end, we propose HANCUA (Hierarchical Attention Network with Correction for User Association), a novel framework that employs a dual-stage correction mechanism to enhance cross-domain trajectory analysis. The approach constructs hierarchical multi-relational graphs comprising location, trajectory, and correction layers to capture fine-grained mobility patterns, behavioral associations, and inter-platform distribution differences. We design relation-aware multi-head graph attention networks to model complex interactions among heterogeneous node types, which enables comprehensive spatial relationship modeling. A spatiotemporal semantic collaborative learning module integrates temporal information with mobility patterns through interaction-aware attention mechanisms, while an ensemble correction decision module incorporates ensemble learning principles to systematically correct user association biases and address distribution imbalance problems.
Extensive experiments on two real-world LBSN cross-domain datasets reveals that HANCUA significantly outperforms state-of-the-art methods in user identity linking accuracy.

Hierarchical Attention Network with Correction for Cross-Domain User Association

As a knowledge-intensive and challenging task, automatic generation of long-form wiki-style articles has garnered increasing attention from researchers due to its ability to efficiently integrate, organize and present vast amounts of both structured and unstructured knowledge. 
To the best of our knowledge, most of the existing mainstream state-of-the-art methods for automatic wiki-style article generation typically follow a "one-shot generation" paradigm: given a topic, (1) first generating a structured outline, (2) then independently and in parallel generating the content of each outline chapter in a one-shot using the chapter title and references. However, the core limitation of the paradigm lies in its disregards inter-chapter correlation and lacks post-generation revision and refinement, resulting in content redundancy, weak relevance and logical inconsistency. To address these issues, we propose WikiREVIEW, a novel multi-perspective review framework for automatic wiki-style article generation. Specifically, our proposed method introduces multi-perspective experts to review the content of each outline chapter at both chapter and paragraph levels following the initial generation, offering evaluation feedback and continuously refining the numerous deficiencies in the initial long-form article, ultimately achieving high-quality wiki-style article generation. Extensive experimental results on the public English dataset FreshWiki and our own constructed high-quality Chinese dataset ChineseWiki, demonstrate that our proposed WikiREVIEW significantly outperforms existing state-of-the-art automatic wiki-style article generation methods across all automatic evaluation metrics and human evaluation.

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