OpenRaiser/Intern-Atlas huggingface dataset:
LORD: Large Models based Opposite Reward Design for Autonomous Driving
Venue: arXiv cs.RO 2024
Year: 2024

Reinforcement learning (RL) based autonomous driving has emerged as a promising alternative to data-driven imitation learning approaches. However, crafting effective reward functions for RL poses challenges due to the complexity of defining and quantifying good driving behaviors across diverse scenarios. Recently, large pretrained models have gained significant attention as zero-shot reward models for tasks specified with desired linguistic goals. However, the desired linguistic goals for autonomous driving such as "drive safely" are ambiguous and incomprehensible by pretrained models. On the other hand, undesired linguistic goals like "collision" are more concrete and tractable. In this work, we introduce LORD, a novel large models based opposite reward design through undesired linguistic goals to enable the efficient use of large pretrained models as zero-shot reward models. Through extensive experiments, our proposed framework shows its efficiency in leveraging the power of large pretrained models for achieving safe and enhanced autonomous driving. Moreover, the proposed approach shows improved generalization capabilities as it outperforms counterpart methods across diverse and challenging driving scenarios.
Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification
Venue: arXiv cs.RO 2024
Year: 2024

The need for a systematic approach to risk assessment has increased in recent years due to the ubiquity of autonomous systems that alter our day-to-day experiences and their need for safety, e.g., for self-driving vehicles, mobile service robots, and bipedal robots. These systems are expected to function safely in unpredictable environments and interact seamlessly with humans, whose behavior is notably challenging to forecast. We present a survey of risk-aware methodologies for autonomous systems. We adopt a contemporary risk-aware approach to mitigate rare and detrimental outcomes by advocating the use of tail risk measures, a concept borrowed from financial literature. This survey will introduce these measures and explain their relevance in the context of robotic systems for planning, control, and verification applications.
Dealing with Imbalanced Classes in Bot-IoT Dataset
Venue: arXiv cs.CR 2024
Year: 2024

With the rapidly spreading usage of Internet of Things (IoT) devices, a network intrusion detection system (NIDS) plays an important role in detecting and protecting various types of attacks in the IoT network. To evaluate the robustness of the NIDS in the IoT network, the existing work proposed a realistic botnet dataset in the IoT network (Bot-IoT dataset) and applied it to machine learning-based anomaly detection. This dataset contains imbalanced normal and attack packets because the number of normal packets is much smaller than that of attack ones. The nature of imbalanced data may make it difficult to identify the minority class correctly. In this thesis, to address the class imbalance problem in the Bot-IoT dataset, we propose a binary classification method with synthetic minority over-sampling techniques (SMOTE). The proposed classifier aims to detect attack packets and overcome the class imbalance problem using the SMOTE algorithm. Through numerical results, we demonstrate the proposed classifier's fundamental characteristics and the impact of imbalanced data on its performance.
Resource Allocation in Large Language Model Integrated 6G Vehicular Networks
Venue: arXiv cs.DC 2024
Year: 2024

In the upcoming 6G era, vehicular networks are shifting from simple Vehicle-to-Vehicle (V2V) communication to the more complex Vehicle-to-Everything (V2X) connectivity. At the forefront of this shift is the incorporation of Large Language Models (LLMs) into vehicles. Known for their sophisticated natural language processing abilities, LLMs change how users interact with their vehicles. This integration facilitates voice-driven commands and interactions, departing from the conventional manual control systems. However, integrating LLMs into vehicular systems presents notable challenges. The substantial computational demands and energy requirements of LLMs pose significant challenges, especially in the constrained environment of a vehicle. Additionally, the time-sensitive nature of tasks in vehicular networks adds another layer of complexity. In this paper, we consider an edge computing system where vehicles process the initial layers of LLM computations locally, and offload the remaining LLM computation tasks to the Roadside Units (RSUs), envisioning a vehicular ecosystem where LLM computations seamlessly interact with the ultra-low latency and high-bandwidth capabilities of 6G networks. To balance the trade-off between completion time and energy consumption, we formulate a multi-objective optimization problem to minimize the total cost of the vehicles and RSUs. The problem is then decomposed into two sub-problems, which are solved by sequential quadratic programming (SQP) method and fractional programming technique. The simulation results clearly indicate that the algorithm we have proposed is highly effective in reducing both the completion time and energy consumption of the system.
IDGenRec: LLM-RecSys Alignment with Textual ID Learning
Venue: arXiv cs.IR 2024
Year: 2024

Generative recommendation based on Large Language Models (LLMs) have transformed the traditional ranking-based recommendation style into a text-to-text generation paradigm. However, in contrast to standard NLP tasks that inherently operate on human vocabulary, current research in generative recommendations struggles to effectively encode recommendation items within the text-to-text framework using concise yet meaningful ID representations. To better align LLMs with recommendation needs, we propose IDGen, representing each item as a unique, concise, semantically rich, platform-agnostic textual ID using human language tokens. This is achieved by training a textual ID generator alongside the LLM-based recommender, enabling seamless integration of personalized recommendations into natural language generation. Notably, as user history is expressed in natural language and decoupled from the original dataset, our approach suggests the potential for a foundational generative recommendation model. Experiments show that our framework consistently surpasses existing models in sequential recommendation under standard experimental setting. Then, we explore the possibility of training a foundation recommendation model with the proposed method on data collected from 19 different datasets and tested its recommendation performance on 6 unseen datasets across different platforms under a completely zero-shot setting. The results show that the zero-shot performance of the pre-trained foundation model is comparable to or even better than some traditional recommendation models based on supervised training, showing the potential of the IDGen paradigm serving as the foundation model for generative recommendation. Code and data are open-sourced at https://github.com/agiresearch/IDGenRec.
EgoNav: Egocentric Scene-aware Human Trajectory Prediction
Venue: arXiv cs.CV 2024
Year: 2024

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego motion of the wearer. In this work, we leveraged body-mounted cameras and sensors to anticipate the trajectory of human wearers through complex surroundings. To facilitate research in ego-motion prediction, we have collected a comprehensive walking scene navigation dataset centered on the user's perspective. We then present a method to predict human motion conditioning on the surrounding static scene. Our method leverages a diffusion model to produce a distribution of potential future trajectories, taking into account the user's observation of the environment. To that end, we introduce a compact representation to encode the user's visual memory of the surroundings, as well as an efficient sample-generating technique to speed up real-time inference of a diffusion model. We ablate our model and compare it to baselines, and results show that our model outperforms existing methods on key metrics of collision avoidance and trajectory mode coverage.
Uncovering Temporal Patterns in Visualizations of High-Dimensional Data
Venue: arXiv cs.LG 2024
Year: 2024

With the increasing availability of high-dimensional data, analysts often rely on exploratory data analysis to understand complex data sets. A key approach to exploring such data is dimensionality reduction, which embeds high-dimensional data in two dimensions to enable visual exploration. However, popular embedding techniques, such as t-SNE and UMAP, typically assume that data points are independent. When this assumption is violated, as in time-series data, the resulting visualizations may fail to reveal important temporal patterns and trends. To address this, we propose a formal extension to existing dimensionality reduction methods that incorporates two temporal loss terms that explicitly highlight temporal progression in the embedded visualizations. Through a series of experiments on both synthetic and real-world datasets, we demonstrate that our approach effectively uncovers temporal patterns and improves the interpretability of the visualizations. Furthermore, the method improves temporal coherence while preserving the fidelity of the embeddings, providing a robust tool for dynamic data analysis.
Equity in Healthcare: Analyzing Disparities in Machine Learning Predictions of Diabetic Patient Readmissions
Venue: arXiv cs.LG 2024
Year: 2024

This study investigates how machine learning (ML) models can predict hospital readmissions for diabetic patients fairly and accurately across different demographics (age, gender, race). We compared models like Deep Learning, Generalized Linear Models, Gradient Boosting Machines (GBM), and Naive Bayes. GBM stood out with an F1-score of 84.3% and accuracy of 82.2%, accurately predicting readmissions across demographics. A fairness analysis was conducted across all the models. GBM minimized disparities in predictions, achieving balanced results across genders and races. It showed low False Discovery Rates (FDR) (6-7%) and False Positive Rates (FPR) (5%) for both genders. Additionally, FDRs remained low for racial groups, such as African Americans (8%) and Asians (7%). Similarly, FPRs were consistent across age groups (4%) for both patients under 40 and those above 40, indicating its precision and ability to reduce bias. These findings emphasize the importance of choosing ML models carefully to ensure both accuracy and fairness for all patients. By showcasing effectiveness of various models with fairness metrics, this study promotes personalized medicine and the need for fair ML algorithms in healthcare. This can ultimately reduce disparities and improve outcomes for diabetic patients of all backgrounds.
Tiny Machine Learning: Progress and Futures
Venue: arXiv cs.LG 2024
Year: 2024

Tiny Machine Learning (TinyML) is a new frontier of machine learning. By squeezing deep learning models into billions of IoT devices and microcontrollers (MCUs), we expand the scope of AI applications and enable ubiquitous intelligence. However, TinyML is challenging due to hardware constraints: the tiny memory resource makes it difficult to hold deep learning models designed for cloud and mobile platforms. There is also limited compiler and inference engine support for bare-metal devices. Therefore, we need to co-design the algorithm and system stack to enable TinyML. In this review, we will first discuss the definition, challenges, and applications of TinyML. We then survey the recent progress in TinyML and deep learning on MCUs. Next, we will introduce MCUNet, showing how we can achieve ImageNet-scale AI applications on IoT devices with system-algorithm co-design. We will further extend the solution from inference to training and introduce tiny on-device training techniques. Finally, we present future directions in this area. Today's large model might be tomorrow's tiny model. The scope of TinyML should evolve and adapt over time.
SCALE: Constructing Structured Natural Language Comment Trees for Software Vulnerability Detection
Venue: arXiv cs.SE 2024
Year: 2024

Recently, there has been a growing interest in automatic software vulnerability detection. Pre-trained model-based approaches have demonstrated superior performance than other Deep Learning (DL)-based approaches in detecting vulnerabilities. However, the existing pre-trained model-based approaches generally employ code sequences as input during prediction, and may ignore vulnerability-related structural information, as reflected in the following two aspects. First, they tend to fail to infer the semantics of the code statements with complex logic such as those containing multiple operators and pointers. Second, they are hard to comprehend various code execution sequences, which is essential for precise vulnerability detection. To mitigate the challenges, we propose a Structured Natural Language Comment tree-based vulnerAbiLity dEtection framework based on the pre-trained models, named SCALE. The proposed Structured Natural Language Comment Tree (SCT) integrates the semantics of code statements with code execution sequences based on the Abstract Syntax Trees (ASTs). Specifically, SCALE comprises three main modules: (1) Comment Tree Construction, which aims at enhancing the model's ability to infer the semantics of code statements by first incorporating Large Language Models (LLMs) for comment generation and then adding the comment node to ASTs. (2) Structured Natural Language Comment Tree Construction}, which aims at explicitly involving code execution sequence by combining the code syntax templates with the comment tree. (3) SCT-Enhanced Representation, which finally incorporates the constructed SCTs for well capturing vulnerability patterns.
Uncover the Premeditated Attacks: Detecting Exploitable Reentrancy Vulnerabilities by Identifying Attacker Contracts
Venue: arXiv cs.CR 2024
Year: 2024

Reentrancy, a notorious vulnerability in smart contracts, has led to millions of dollars in financial loss. However, current smart contract vulnerability detection tools suffer from a high false positive rate in identifying contracts with reentrancy vulnerabilities. Moreover, only a small portion of the detected reentrant contracts can actually be exploited by hackers, making these tools less effective in securing the Ethereum ecosystem in practice. In this paper, we propose BlockWatchdog, a tool that focuses on detecting reentrancy vulnerabilities by identifying attacker contracts. These attacker contracts are deployed by hackers to exploit vulnerable contracts automatically. By focusing on attacker contracts, BlockWatchdog effectively detects truly exploitable reentrancy vulnerabilities by identifying reentrant call flow. Additionally, BlockWatchdog is capable of detecting new types of reentrancy vulnerabilities caused by poor designs when using ERC tokens or user-defined interfaces, which cannot be detected by current rule-based tools. We implement BlockWatchdog using cross-contract static dataflow techniques based on attack logic obtained from an empirical study that analyzes attacker contracts from 281 attack incidents. BlockWatchdog is evaluated on 421,889 Ethereum contract bytecodes and identifies 113 attacker contracts that target 159 victim contracts, leading to the theft of Ether and tokens valued at approximately 908.6 million USD. Notably, only 18 of the identified 159 victim contracts can be reported by current reentrancy detection tools.
Code Comparison Tuning for Code Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

We present Code Comparison Tuning (CCT), a simple and effective tuning method for code large language models (Code LLMs) to better handle subtle code errors. Specifically, we integrate the concept of comparison into instruction tuning, both at the token and sequence levels, enabling the model to discern even the slightest deviations in code. To compare the original code with an erroneous version containing manually added code errors, we use token-level preference loss for detailed token-level comparisons. Additionally, we combine code segments to create a new instruction tuning sample for sequence-level comparisons, enhancing the model's bug-fixing capability. Experimental results on the HumanEvalFix benchmark show that CCT surpasses instruction tuning in pass@1 scores by up to 4 points across diverse code LLMs, and extensive analysis demonstrates the effectiveness of our method.
MoDiTalker: Motion-Disentangled Diffusion Model for High-Fidelity Talking Head Generation
Venue: arXiv cs.CV 2024
Year: 2024

Conventional GAN-based models for talking head generation often suffer from limited quality and unstable training. Recent approaches based on diffusion models aimed to address these limitations and improve fidelity. However, they still face challenges, including extensive sampling times and difficulties in maintaining temporal consistency due to the high stochasticity of diffusion models. To overcome these challenges, we propose a novel motion-disentangled diffusion model for high-quality talking head generation, dubbed MoDiTalker. We introduce the two modules: audio-to-motion (AToM), designed to generate a synchronized lip motion from audio, and motion-to-video (MToV), designed to produce high-quality head video following the generated motion. AToM excels in capturing subtle lip movements by leveraging an audio attention mechanism. In addition, MToV enhances temporal consistency by leveraging an efficient tri-plane representation. Our experiments conducted on standard benchmarks demonstrate that our model achieves superior performance compared to existing models. We also provide comprehensive ablation studies and user study results.
Mining Bug Repositories for Multi-Fault Programs
Venue: arXiv cs.SE 2024
Year: 2024

Datasets such as Defects4J and BugsInPy that contain bugs from real-world software projects are necessary for a realistic evaluation of automated debugging tools. However these datasets largely identify only a single bug in each entry, while real-world software projects (including those used in Defects4J and BugsInPy) typically contain multiple bugs at the same time. We lift this limitation and describe an extension to these datasets in which multiple bugs are identified in individual entries. We use test case transplantation and fault location translation, in order to expose and locate the bugs, respectively. We thus provide datasets of true multi-fault versions within real-world software projects, which maintain the properties and usability of the original datasets.
Enhancing Trust and Privacy in Distributed Networks: A Comprehensive Survey on Blockchain-based Federated Learning
Venue: arXiv cs.CR 2024
Year: 2024

While centralized servers pose a risk of being a single point of failure, decentralized approaches like blockchain offer a compelling solution by implementing a consensus mechanism among multiple entities. Merging distributed computing with cryptographic techniques, decentralized technologies introduce a novel computing paradigm. Blockchain ensures secure, transparent, and tamper-proof data management by validating and recording transactions via consensus across network nodes. Federated Learning (FL), as a distributed machine learning framework, enables participants to collaboratively train models while safeguarding data privacy by avoiding direct raw data exchange. Despite the growing interest in decentralized methods, their application in FL remains underexplored. This paper presents a thorough investigation into Blockchain-based FL (BCFL), spotlighting the synergy between blockchain's security features and FL's privacy-preserving model training capabilities. First, we present the taxonomy of BCFL from three aspects, including decentralized, separate networks, and reputation-based architectures. Then, we summarize the general architecture of BCFL systems, providing a comprehensive perspective on FL architectures informed by blockchain. Afterward, we analyze the application of BCFL in healthcare, IoT, and other privacy-sensitive areas. Finally, we identify future research directions of BCFL.
CogniDot: Vasoactivity-based Cognitive Load Monitoring with a Miniature On-skin Sensor
Venue: arXiv cs.HC 2024
Year: 2024

Vascular activities offer valuable signatures for psychological monitoring applications. We present CogniDot, an affordable, miniature skin sensor placed on the temporal area on the head that senses cognitive loads with a single-pixel color sensor. With its energy-efficient design, bio-compatible adhesive, and compact size (22mm diameter, 8.5mm thickness), it is ideal for long-term monitoring of mind status. We showed in detail the hardware design of our sensor. The user study results with 12 participants show that CogniDot can accurately differentiate between three levels of cognitive loads with a within-user accuracy of 97%. We also discuss its potential for broader applications.
Inferring Latent Temporal Sparse Coordination Graph for Multi-Agent Reinforcement Learning
Venue: arXiv cs.LG 2024
Year: 2024

Effective agent coordination is crucial in cooperative Multi-Agent Reinforcement Learning (MARL). While agent cooperation can be represented by graph structures, prevailing graph learning methods in MARL are limited. They rely solely on one-step observations, neglecting crucial historical experiences, leading to deficient graphs that foster redundant or detrimental information exchanges. Additionally, high computational demands for action-pair calculations in dense graphs impede scalability. To address these challenges, we propose inferring a Latent Temporal Sparse Coordination Graph (LTS-CG) for MARL. The LTS-CG leverages agents' historical observations to calculate an agent-pair probability matrix, where a sparse graph is sampled from and used for knowledge exchange between agents, thereby simultaneously capturing agent dependencies and relation uncertainty. The computational complexity of this procedure is only related to the number of agents. This graph learning process is further augmented by two innovative characteristics: Predict-Future, which enables agents to foresee upcoming observations, and Infer-Present, ensuring a thorough grasp of the environmental context from limited data. These features allow LTS-CG to construct temporal graphs from historical and real-time information, promoting knowledge exchange during policy learning and effective collaboration. Graph learning and agent training occur simultaneously in an end-to-end manner. Our demonstrated results on the StarCraft II benchmark underscore LTS-CG's superior performance.