OpenRaiser/Intern-Atlas huggingface dataset:
OccNeRF: Advancing 3D Occupancy Prediction in LiDAR-Free Environments
Venue: arXiv cs.CV 2024
Year: 2024

Occupancy prediction reconstructs 3D structures of surrounding environments. It provides detailed information for autonomous driving planning and navigation. However, most existing methods heavily rely on the LiDAR point clouds to generate occupancy ground truth, which is not available in the vision-based system. In this paper, we propose an OccNeRF method for training occupancy networks without 3D supervision. Different from previous works which consider a bounded scene, we parameterize the reconstructed occupancy fields and reorganize the sampling strategy to align with the cameras' infinite perceptive range. The neural rendering is adopted to convert occupancy fields to multi-camera depth maps, supervised by multi-frame photometric consistency. Moreover, for semantic occupancy prediction, we design several strategies to polish the prompts and filter the outputs of a pretrained open-vocabulary 2D segmentation model. Extensive experiments for both self-supervised depth estimation and 3D occupancy prediction tasks on nuScenes and SemanticKITTI datasets demonstrate the effectiveness of our method.
Helping or Herding? Reward Model Ensembles Mitigate but do not Eliminate Reward Hacking
Venue: arXiv cs.LG 2024
Year: 2024

Reward models play a key role in aligning language model applications towards human preferences. However, this setup creates an incentive for the language model to exploit errors in the reward model to achieve high estimated reward, a phenomenon often termed \emph{reward hacking}. A natural mitigation is to train an ensemble of reward models, aggregating over model outputs to obtain a more robust reward estimate. We explore the application of reward ensembles to alignment at both training time (through reinforcement learning) and inference time (through reranking). First, we show that reward models are \emph{underspecified}: reward models that perform similarly in-distribution can yield very different rewards when used in alignment, due to distribution shift. Second, underspecification results in overoptimization, where alignment to one reward model does not improve reward as measured by another reward model trained on the same data. Third, overoptimization is mitigated by the use of reward ensembles, and ensembles that vary by their \emph{pretraining} seeds lead to better generalization than ensembles that differ only by their \emph{fine-tuning} seeds, with both outperforming individual reward models. However, even pretrain reward ensembles do not eliminate reward hacking: we show several qualitative reward hacking phenomena that are not mitigated by ensembling because all reward models in the ensemble exhibit similar error patterns.
Detecting Grasping Sites in a Martian Lava Tube: Multi-Stage Perception Trade Study for ReachBot
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a trade study analysis to design and evaluate the perception system architecture for ReachBot. ReachBot is a novel robotic concept that uses grippers at the end of deployable booms for navigation of rough terrain such as walls of caves and lava tubes. Previous studies on ReachBot have discussed the overall robot design, placement and number of deployable booms, and gripper mechanism design; however, analysis of the perception and sensing system remains underdeveloped. Because ReachBot can extend and interact with terrain over long distances on the order of several meters, a robust perception and sensing strategy is crucial to identify grasping locations and enable fully autonomous operation. This trade study focuses on developing the perception trade space and realizing such perception capabilities for a physical prototype. This work includes analysis of: (1) multiple-range sensing strategies for ReachBot, (2) sensor technologies for subsurface climbing robotics, (3) criteria for sensor evaluation, (4) positions and modalities of sensors on ReachBot, and (5) map representations of grasping locations. From our analysis, we identify the overall perception strategy and hardware configuration for a fully-instrumented case study mission to a Martian lava tube, and identify specific sensors for a hardware prototype. The final result of our trade study is a system design conducive to benchtop testing and prototype hardware development.
Ins-HOI: Instance Aware Human-Object Interactions Recovery
Venue: arXiv cs.CV 2024
Year: 2024

Accurately modeling detailed interactions between human/hand and object is an appealing yet challenging task. Current multi-view capture systems are only capable of reconstructing multiple subjects into a single, unified mesh, which fails to model the states of each instance individually during interactions. To address this, previous methods use template-based representations to track human/hand and object. However, the quality of the reconstructions is limited by the descriptive capabilities of the templates so that these methods are inherently struggle with geometry details, pressing deformations and invisible contact surfaces. In this work, we propose an end-to-end Instance-aware Human-Object Interactions recovery (Ins-HOI) framework by introducing an instance-level occupancy field representation. However, the real-captured data is presented as a holistic mesh, unable to provide instance-level supervision. To address this, we further propose a complementary training strategy that leverages synthetic data to introduce instance-level shape priors, enabling the disentanglement of occupancy fields for different instances. Specifically, synthetic data, created by randomly combining individual scans of humans/hands and objects, guides the network to learn a coarse prior of instances. Meanwhile, real-captured data helps in learning the overall geometry and restricting interpenetration in contact areas. As demonstrated in experiments, our method Ins-HOI supports instance-level reconstruction and provides reasonable and realistic invisible contact surfaces even in cases of extremely close interaction. To facilitate the research of this task, we collect a large-scale, high-fidelity 3D scan dataset, including 5.2k high-quality scans with real-world human-chair and hand-object interactions. The code and data will be public for research purposes.
FlowMur: A Stealthy and Practical Audio Backdoor Attack with Limited Knowledge
Venue: arXiv cs.CR 2024
Year: 2024

Speech recognition systems driven by DNNs have revolutionized human-computer interaction through voice interfaces, which significantly facilitate our daily lives. However, the growing popularity of these systems also raises special concerns on their security, particularly regarding backdoor attacks. A backdoor attack inserts one or more hidden backdoors into a DNN model during its training process, such that it does not affect the model's performance on benign inputs, but forces the model to produce an adversary-desired output if a specific trigger is present in the model input. Despite the initial success of current audio backdoor attacks, they suffer from the following limitations: (i) Most of them require sufficient knowledge, which limits their widespread adoption. (ii) They are not stealthy enough, thus easy to be detected by humans. (iii) Most of them cannot attack live speech, reducing their practicality. To address these problems, in this paper, we propose FlowMur, a stealthy and practical audio backdoor attack that can be launched with limited knowledge. FlowMur constructs an auxiliary dataset and a surrogate model to augment adversary knowledge. To achieve dynamicity, it formulates trigger generation as an optimization problem and optimizes the trigger over different attachment positions. To enhance stealthiness, we propose an adaptive data poisoning method according to Signal-to-Noise Ratio (SNR). Furthermore, ambient noise is incorporated into the process of trigger generation and data poisoning to make FlowMur robust to ambient noise and improve its practicality. Extensive experiments conducted on two datasets demonstrate that FlowMur achieves high attack performance in both digital and physical settings while remaining resilient to state-of-the-art defenses. In particular, a human study confirms that triggers generated by FlowMur are not easily detected by participants.
RJUA-QA: A Comprehensive QA Dataset for Urology
Venue: arXiv cs.CL 2024
Year: 2024

We introduce RJUA-QA, a novel medical dataset for question answering (QA) and reasoning with clinical evidence, contributing to bridge the gap between general large language models (LLMs) and medical-specific LLM applications. RJUA-QA is derived from realistic clinical scenarios and aims to facilitate LLMs in generating reliable diagnostic and advice. The dataset contains 2,132 curated Question-Context-Answer pairs, corresponding about 25,000 diagnostic records and clinical cases. The dataset covers 67 common urological disease categories, where the disease coverage exceeds 97.6\% of the population seeking medical services in urology. Each data instance in RJUA-QA comprises: (1) a question mirroring real patient to inquiry about clinical symptoms and medical conditions, (2) a context including comprehensive expert knowledge, serving as a reference for medical examination and diagnosis, (3) a doctor response offering the diagnostic conclusion and suggested examination guidance, (4) a diagnosed clinical disease as the recommended diagnostic outcome, and (5) clinical advice providing recommendations for medical examination. RJUA-QA is the first medical QA dataset for clinical reasoning over the patient inquiries, where expert-level knowledge and experience are required for yielding diagnostic conclusions and medical examination advice. A comprehensive evaluation is conducted to evaluate the performance of both medical-specific and general LLMs on the RJUA-QA dataset. Our data is are publicly available at \url{https://github.com/alipay/RJU_Ant_QA}.
Data-Driven Socio-Economic Deprivation Prediction via Dimensionality Reduction: The Power of Diffusion Maps
Venue: arXiv cs.LG 2024
Year: 2024

This research proposes a model to predict the location of the most deprived areas in a city using data from the census. Census data is very high-dimensional and needs to be simplified. We use the diffusion map algorithm to reduce dimensionality and find patterns. Features are defined by eigenvectors of the Laplacian matrix that defines the diffusion map. The eigenvectors corresponding to the smallest eigenvalues indicate specific characteristics of the population. Previous work has found qualitatively that the second most important dimension for describing the census data in Bristol, UK is linked to deprivation. In this research, we analyse how good this dimension is as a model for predicting deprivation by comparing it with the recognised measures. The Pearson correlation coefficient was found to be greater than 0.7. The top 10 per cent of deprived areas in the UK, which are also located in Bristol, are extracted to test the accuracy of the model. There are 52 of the most deprived areas, and 38 areas are correctly identified by comparing them to the model. The influence of scores of IMD domains that do not correlate with the models and Eigenvector 2 entries of non-deprived Output Areas cause the model to fail the prediction of 14 deprived areas. The model demonstrates strong performance in predicting future deprivation in the project areas, which is expected to assist in government resource allocation and funding greatly. The codes can be accessed here: https://github.com/junegoo94/diffusion_maps
CABBA: Compatible Authenticated Bandwidth-efficient Broadcast protocol for ADS-B
Venue: arXiv cs.CR 2024
Year: 2024

The Automatic Dependent Surveillance-Broadcast (ADS-B) is a surveillance technology that mandated in many airspaces. It improves safety, increases efficiency and reduces air traffic congestion by broadcasting aircraft navigation data. Yet, ADS-B is vulnerable to spoofing attacks as it lacks mechanisms to ensure the integrity and authenticity of the data being supplied. None of the existing cryptographic solutions fully meet the backward compatibility and bandwidth preservation requirements of the standard. Hence, we propose the Compatible Authenticated Bandwidth-efficient Broadcast protocol for ADS-B (CABBA), an improved approach that integrates TESLA, phase-overlay modulation techniques and certificate-based PKI. As a result, entity authentication, data origin authentication, and data integrity are the security services that CABBA offers. To assess compliance with the standard, we designed an SDR-based implementation of CABBA and performed backward compatibility tests on commercial and general aviation (GA) ADS-B in receivers. Besides, we calculated the 1090ES band's activity factor and analyzed the channel occupancy rate according to ITU-R SM.2256-1 recommendation. Also, we performed a bit error rate analysis of CABBA messages. The results suggest that CABBA is backward compatible, does not incur significant communication overhead, and has an error rate that is acceptable for Eb/No values above 14 dB.
A Framework for Exploring the Consequences of AI-Mediated Enterprise Knowledge Access and Identifying Risks to Workers
Venue: arXiv cs.CY 2024
Year: 2024

Organisations generate vast amounts of information, which has resulted in a long-term research effort into knowledge access systems for enterprise settings. Recent developments in artificial intelligence, in relation to large language models, are poised to have significant impact on knowledge access. This has the potential to shape the workplace and knowledge in new and unanticipated ways. Many risks can arise from the deployment of these types of AI systems, due to interactions between the technical system and organisational power dynamics. This paper presents the Consequence-Mechanism-Risk framework to identify risks to workers from AI-mediated enterprise knowledge access systems. We have drawn on wide-ranging literature detailing risks to workers, and categorised risks as being to worker value, power, and wellbeing. The contribution of our framework is to additionally consider (i) the consequences of these systems that are of moral import: commodification, appropriation, concentration of power, and marginalisation, and (ii) the mechanisms, which represent how these consequences may take effect in the system. The mechanisms are a means of contextualising risk within specific system processes, which is critical for mitigation. This framework is aimed at helping practitioners involved in the design and deployment of AI-mediated knowledge access systems to consider the risks introduced to workers, identify the precise system mechanisms that introduce those risks and begin to approach mitigation. Future work could apply this framework to other technological systems to promote the protection of workers and other groups.
A Distributed Privacy Preserving Model for the Detection of Alzheimer's Disease
Venue: arXiv cs.LG 2024
Year: 2024

In the era of rapidly advancing medical technologies, the segmentation of medical data has become inevitable, necessitating the development of privacy preserving machine learning algorithms that can train on distributed data. Consolidating sensitive medical data is not always an option particularly due to the stringent privacy regulations imposed by the Health Insurance Portability and Accountability Act (HIPAA). In this paper, I introduce a HIPAA compliant framework that can train from distributed data. I then propose a multimodal vertical federated model for Alzheimer's Disease (AD) detection, a serious neurodegenerative condition that can cause dementia, severely impairing brain function and hindering simple tasks, especially without preventative care. This vertical federated learning (VFL) model offers a distributed architecture that enables collaborative learning across diverse sources of medical data while respecting privacy constraints imposed by HIPAA. The VFL architecture proposed herein offers a novel distributed architecture, enabling collaborative learning across diverse sources of medical data while respecting statutory privacy constraints. By leveraging multiple modalities of data, the robustness and accuracy of AD detection can be enhanced. This model not only contributes to the advancement of federated learning techniques but also holds promise for overcoming the hurdles posed by data segmentation in medical research.
Exploring UMAP in hybrid models of entropy-based and representativeness sampling for active learning in biomedical segmentation
Venue: arXiv cs.CV 2024
Year: 2024

In this work, we study various hybrid models of entropy-based and representativeness sampling techniques in the context of active learning in medical segmentation, in particular examining the role of UMAP (Uniform Manifold Approximation and Projection) as a technique for capturing representativeness. Although UMAP has been shown viable as a general purpose dimension reduction method in diverse areas, its role in deep learning-based medical segmentation has yet been extensively explored. Using the cardiac and prostate datasets in the Medical Segmentation Decathlon for validation, we found that a novel hybrid combination of Entropy-UMAP sampling technique achieved a statistically significant Dice score advantage over the random baseline ($3.2 \%$ for cardiac, $4.5 \%$ for prostate), and attained the highest Dice coefficient among the spectrum of 10 distinct active learning methodologies we examined. This provides preliminary evidence that there is an interesting synergy between entropy-based and UMAP methods when the former precedes the latter in a hybrid model of active learning.
Disjunctive Policies for Database-Backed Programs
Venue: arXiv cs.CR 2024
Year: 2024

When specifying security policies for databases, it is often natural to formulate disjunctive dependencies, where a piece of information may depend on at most one of two dependencies P1 or P2, but not both. A formal semantic model of such disjunctive dependencies, the Quantale of Information, was recently introduced by Hunt and Sands as a generalization of the Lattice of Information. In this paper, we seek to contribute to the understanding of disjunctive dependencies in database-backed programs and introduce a practical framework to statically enforce disjunctive security policies. To that end, we introduce the Determinacy Quantale, a new query-based structure which captures the ordering of disjunctive information in databases. This structure can be understood as a query-based counterpart to the Quantale of Information. Based on this structure, we design a sound enforcement mechanism to check disjunctive policies for database-backed programs. This mechanism is based on a type-based analysis for a simple imperative language with database queries, which is precise enough to accommodate a variety of row- and column-level database policies flexibly while keeping track of disjunctions due to control flow. We validate our mechanism by implementing it in a tool, DiVerT, and demonstrate its feasibility on a number of use cases.
CoCoGen: Physically-Consistent and Conditioned Score-based Generative Models for Forward and Inverse Problems
Venue: arXiv cs.LG 2024
Year: 2024

Recent advances in generative artificial intelligence have had a significant impact on diverse domains spanning computer vision, natural language processing, and drug discovery. This work extends the reach of generative models into physical problem domains, particularly addressing the efficient enforcement of physical laws and conditioning for forward and inverse problems involving partial differential equations (PDEs). Our work introduces two key contributions: firstly, we present an efficient approach to promote consistency with the underlying PDE. By incorporating discretized information into score-based generative models, our method generates samples closely aligned with the true data distribution, showcasing residuals comparable to data generated through conventional PDE solvers, significantly enhancing fidelity. Secondly, we showcase the potential and versatility of score-based generative models in various physics tasks, specifically highlighting surrogate modeling as well as probabilistic field reconstruction and inversion from sparse measurements. A robust foundation is laid by designing unconditional score-based generative models that utilize reversible probability flow ordinary differential equations. Leveraging conditional models that require minimal training, we illustrate their flexibility when combined with a frozen unconditional model. These conditional models generate PDE solutions by incorporating parameters, macroscopic quantities, or partial field measurements as guidance. The results illustrate the inherent flexibility of score-based generative models and explore the synergy between unconditional score-based generative models and the present physically-consistent sampling approach, emphasizing the power and flexibility in solving for and inverting physical fields governed by differential equations, and in other scientific machine learning tasks.
Policy Optimization in RLHF: The Impact of Out-of-preference Data
Venue: arXiv cs.LG 2024
Year: 2024

Aligning intelligent agents with human preferences and values is important. This paper examines two popular alignment methods: Direct Preference Optimization (DPO) and Reward-Model-Based Policy Optimization (RMB-PO). A variant of RMB-PO, referred to as RMB-PO+ is also considered. These methods, either explicitly or implicitly, learn a reward model from preference data and differ in the data used for policy optimization to unlock the generalization ability of the reward model. In particular, compared with DPO, RMB-PO additionally uses policy-generated data, and RMB-PO+ further leverages new, preference-free data. We examine the impact of such out-of-preference data. Our study, conducted through controlled and synthetic experiments, demonstrates that DPO performs poorly, whereas RMB-PO+ performs the best. In particular, even when providing the policy model with a good feature representation, we find that policy optimization with adequate out-of-preference data significantly improves performance by harnessing the reward model's generalization capabilities.
Unit Test Generation using Generative AI : A Comparative Performance Analysis of Autogeneration Tools
Venue: arXiv cs.SE 2024
Year: 2024

Generating unit tests is a crucial task in software development, demanding substantial time and effort from programmers. The advent of Large Language Models (LLMs) introduces a novel avenue for unit test script generation. This research aims to experimentally investigate the effectiveness of LLMs, specifically exemplified by ChatGPT, for generating unit test scripts for Python programs, and how the generated test cases compare with those generated by an existing unit test generator (Pynguin). For experiments, we consider three types of code units: 1) Procedural scripts, 2) Function-based modular code, and 3) Class-based code. The generated test cases are evaluated based on criteria such as coverage, correctness, and readability. Our results show that ChatGPT's performance is comparable with Pynguin in terms of coverage, though for some cases its performance is superior to Pynguin. We also find that about a third of assertions generated by ChatGPT for some categories were incorrect. Our results also show that there is minimal overlap in missed statements between ChatGPT and Pynguin, thus, suggesting that a combination of both tools may enhance unit test generation performance. Finally, in our experiments, prompt engineering improved ChatGPT's performance, achieving a much higher coverage.