OpenRaiser/Intern-Atlas huggingface dataset:
Less is More: Sparse Watermarking in LLMs with Enhanced Text Quality
Venue: arXiv cs.CR 2024
Year: 2024

With the widespread adoption of Large Language Models (LLMs), concerns about potential misuse have emerged. To this end, watermarking has been adapted to LLM, enabling a simple and effective way to detect and monitor generated text. However, while the existing methods can differentiate between watermarked and unwatermarked text with high accuracy, they often face a trade-off between the quality of the generated text and the effectiveness of the watermarking process. In this work, we present a novel type of LLM watermark, Sparse Watermark, which aims to mitigate this trade-off by applying watermarks to a small subset of generated tokens distributed across the text. The key strategy involves anchoring watermarked tokens to words that have specific Part-of-Speech (POS) tags. Our experimental results demonstrate that the proposed watermarking scheme achieves high detectability while generating text that outperforms previous LLM watermarking methods in quality across various tasks
A New Tightly-Coupled Dual-VIO for a Mobile Manipulator With Dynamic Locomotion
Venue: arXiv cs.RO 2024
Year: 2024

This paper introduces a new dual monocular visualinertial odometry (dual-VIO) strategy for a mobile manipulator operating under dynamic locomotion, i.e. coordinated movement involving both the base platform and the manipulator arm. Our approach has been motivated by challenges arising from inaccurate estimation due to coupled excitation when the mobile manipulator is engaged in dynamic locomotion in cluttered environments. The technique maintains two independent monocular VIO modules, with one at the mobile base and the other at the end-effector (EE), which are tightly coupled at the low level of the factor graph. The proposed method treats each monocular VIO with respect to each other as a positional anchor through arm-kinematics. These anchor points provide a soft geometric constraint during the VIO pose optimization. This allows us to stabilize both estimators in case of instability of one estimator in highly dynamic locomotions. The performance of our approach has been demonstrated through extensive experimental testing with a mobile manipulator tested in comparison to running dual VINS-Mono in parallel. We envision that our method can also provide a foundation towards active-SLAM (ASLAM) with a new perspective on multi-VIO fusion and system redundancy.
Optimization-Based Outlier Accommodation for Tightly Coupled RTK-Aided Inertial Navigation Systems in Urban Environments
Venue: arXiv cs.RO 2024
Year: 2024

Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation applications, stated accuracy specifications must be achieved, unless the navigation system can detect when it is violated. In urban environments, GNSS measurements are susceptible to outliers, which motivates the important problem of accommodating outliers while either achieving a performance specification or communicating that it is not feasible. Risk-Averse Performance-Specified (RAPS) is designed to optimally select measurements to address this problem. Existing RAPS approaches lack a method applicable to carrier phase measurements, which have the benefit of measurement errors at the centimeter level along with the challenge of being biased by integer ambiguities. This paper proposes a RAPS framework that combines Real-time Kinematic (RTK) in a tightly coupled INS for urban navigation applications. Experimental results demonstrate the effectiveness of this RAPS-INS-RTK framework, achieving 85.84% and 92.07% of horizontal and vertical errors less than 1.5 meters and 3 meters, respectively, using a smartphone-grade Inertial Measurement Unit (IMU) from a deep-urban dataset. This performance not only surpasses the Society of Automotive Engineers (SAE) requirements, but also shows a 10% improvement compared to traditional methods.
Microservices-based Software Systems Reengineering: State-of-the-Art and Future Directions
Venue: arXiv cs.SE 2024
Year: 2024

Designing software compatible with cloud-based Microservice Architectures (MSAs) is vital due to the performance, scalability, and availability limitations. As the complexity of a system increases, it is subject to deprecation, difficulties in making updates, and risks in introducing defects when making changes. Microservices are small, loosely coupled, highly cohesive units that interact to provide system functionalities. We provide a comprehensive survey of current research into ways of identifying services in systems that can be redeployed as microservices. Static, dynamic, and hybrid approaches have been explored. While code analysis techniques dominate the area, dynamic and hybrid approaches remain open research topics.
LinSATNet: The Positive Linear Satisfiability Neural Networks
Venue: arXiv cs.AI 2024
Year: 2024

Encoding constraints into neural networks is attractive. This paper studies how to introduce the popular positive linear satisfiability to neural networks. We propose the first differentiable satisfiability layer based on an extension of the classic Sinkhorn algorithm for jointly encoding multiple sets of marginal distributions. We further theoretically characterize the convergence property of the Sinkhorn algorithm for multiple marginals. In contrast to the sequential decision e.g.\ reinforcement learning-based solvers, we showcase our technique in solving constrained (specifically satisfiability) problems by one-shot neural networks, including i) a neural routing solver learned without supervision of optimal solutions; ii) a partial graph matching network handling graphs with unmatchable outliers on both sides; iii) a predictive network for financial portfolios with continuous constraints. To our knowledge, there exists no one-shot neural solver for these scenarios when they are formulated as satisfiability problems. Source code is available at https://github.com/Thinklab-SJTU/LinSATNet
Revisiting Concept Drift in Windows Malware Detection: Adaptation to Real Drifted Malware with Minimal Samples
Venue: arXiv cs.CR 2024
Year: 2024

In applying deep learning for malware classification, it is crucial to account for the prevalence of malware evolution, which can cause trained classifiers to fail on drifted malware. Existing solutions to address concept drift use active learning. They select new samples for analysts to label and then retrain the classifier with the new labels. Our key finding is that the current retraining techniques do not achieve optimal results. These techniques overlook that updating the model with scarce drifted samples requires learning features that remain consistent across pre-drift and post-drift data. The model should thus be able to disregard specific features that, while beneficial for the classification of pre-drift data, are absent in post-drift data, thereby preventing prediction degradation. In this paper, we propose a new technique for detecting and classifying drifted malware that learns drift-invariant features in malware control flow graphs by leveraging graph neural networks with adversarial domain adaptation. We compare it with existing model retraining methods in active learning-based malware detection systems and other domain adaptation techniques from the vision domain. Our approach significantly improves drifted malware detection on publicly available benchmarks and real-world malware databases reported daily by security companies in 2024. We also tested our approach in predicting multiple malware families drifted over time. A thorough evaluation shows that our approach outperforms the state-of-the-art approaches.
Towards Trustworthy AI: A Review of Ethical and Robust Large Language Models
Venue: arXiv cs.CY 2024
Year: 2024

The rapid progress in Large Language Models (LLMs) could transform many fields, but their fast development creates significant challenges for oversight, ethical creation, and building user trust. This comprehensive review looks at key trust issues in LLMs, such as unintended harms, lack of transparency, vulnerability to attacks, alignment with human values, and environmental impact. Many obstacles can undermine user trust, including societal biases, opaque decision-making, potential for misuse, and the challenges of rapidly evolving technology. Addressing these trust gaps is critical as LLMs become more common in sensitive areas like finance, healthcare, education, and policy. To tackle these issues, we suggest combining ethical oversight, industry accountability, regulation, and public involvement. AI development norms should be reshaped, incentives aligned, and ethics integrated throughout the machine learning process, which requires close collaboration across technology, ethics, law, policy, and other fields. Our review contributes a robust framework to assess trust in LLMs and analyzes the complex trust dynamics in depth. We provide contextualized guidelines and standards for responsibly developing and deploying these powerful AI systems. This review identifies key limitations and challenges in creating trustworthy AI. By addressing these issues, we aim to build a transparent, accountable AI ecosystem that benefits society while minimizing risks. Our findings provide valuable guidance for researchers, policymakers, and industry leaders striving to establish trust in LLMs and ensure they are used responsibly across various applications for the good of society.
Boosting Online 3D Multi-Object Tracking through Camera-Radar Cross Check
Venue: arXiv cs.CV 2024
Year: 2024

In the domain of autonomous driving, the integration of multi-modal perception techniques based on data from diverse sensors has demonstrated substantial progress. Effectively surpassing the capabilities of state-of-the-art single-modality detectors through sensor fusion remains an active challenge. This work leverages the respective advantages of cameras in perspective view and radars in Bird's Eye View (BEV) to greatly enhance overall detection and tracking performance. Our approach, Camera-Radar Associated Fusion Tracking Booster (CRAFTBooster), represents a pioneering effort to enhance radar-camera fusion in the tracking stage, contributing to improved 3D MOT accuracy. The superior experimental results on the K-Radaar dataset, which exhibit 5-6% on IDF1 tracking performance gain, validate the potential of effective sensor fusion in advancing autonomous driving.
Using Artificial Intelligence to Accelerate Collective Intelligence: Policy Synth and Smarter Crowdsourcing
Venue: arXiv cs.CY 2024
Year: 2024

In an era characterized by rapid societal changes and complex challenges, institutions' traditional methods of problem-solving in the public sector are increasingly proving inadequate. In this study, we present an innovative and effective model for how institutions can use artificial intelligence to enable groups of people to generate effective solutions to urgent problems more efficiently. We describe a proven collective intelligence method, called Smarter Crowdsourcing, which is designed to channel the collective intelligence of those with expertise about a problem into actionable solutions through crowdsourcing. Then we introduce Policy Synth, an innovative toolkit which leverages AI to make the Smarter Crowdsourcing problem-solving approach both more scalable, more effective and more efficient. Policy Synth is crafted using a human-centric approach, recognizing that AI is a tool to enhance human intelligence and creativity, not replace it. Based on a real-world case study comparing the results of expert crowdsourcing alone with expert sourcing supported by Policy Synth AI agents, we conclude that Smarter Crowdsourcing with Policy Synth presents an effective model for integrating the collective wisdom of human experts and the computational power of AI to enhance and scale up public problem-solving processes. While many existing approaches view AI as a tool to make crowdsourcing and deliberative processes better and more efficient, Policy Synth goes a step further, recognizing that AI can also be used to synthesize the findings from engagements together with research to develop evidence-based solutions and policies. The study offers practical tools and insights for institutions looking to engage communities effectively in addressing urgent societal challenges.
The Effect of Training Schedules on Morphological Robustness and Generalization
Venue: arXiv cs.NE 2024
Year: 2024

Robustness and generalizability are the key properties of artificial neural network (ANN)-based controllers for maintaining a reliable performance in case of changes. It is demonstrated that exposing the ANNs to variations during training processes can improve their robustness and generalization capabilities. However, the way in which this variation is introduced can have a significant impact. In this paper, we define various training schedules to specify how these variations are introduced during an evolutionary learning process. In particular, we focus on morphological robustness and generalizability concerned with finding an ANN-based controller that can provide sufficient performance on a range of physical variations. Then, we perform an extensive analysis of the effect of these training schedules on morphological generalization. Furthermore, we formalize the process of training sample selection (i.e., morphological variations) to improve generalization as a reinforcement learning problem. Overall, our results provide deeper insights into the role of variability and the ways of enhancing the generalization property of evolved ANN-based controllers.
PlacidDreamer: Advancing Harmony in Text-to-3D Generation
Venue: arXiv cs.CV 2024
Year: 2024

Recently, text-to-3D generation has attracted significant attention, resulting in notable performance enhancements. Previous methods utilize end-to-end 3D generation models to initialize 3D Gaussians, multi-view diffusion models to enforce multi-view consistency, and text-to-image diffusion models to refine details with score distillation algorithms. However, these methods exhibit two limitations. Firstly, they encounter conflicts in generation directions since different models aim to produce diverse 3D assets. Secondly, the issue of over-saturation in score distillation has not been thoroughly investigated and solved. To address these limitations, we propose PlacidDreamer, a text-to-3D framework that harmonizes initialization, multi-view generation, and text-conditioned generation with a single multi-view diffusion model, while simultaneously employing a novel score distillation algorithm to achieve balanced saturation. To unify the generation direction, we introduce the Latent-Plane module, a training-friendly plug-in extension that enables multi-view diffusion models to provide fast geometry reconstruction for initialization and enhanced multi-view images to personalize the text-to-image diffusion model. To address the over-saturation problem, we propose to view score distillation as a multi-objective optimization problem and introduce the Balanced Score Distillation algorithm, which offers a Pareto Optimal solution that achieves both rich details and balanced saturation. Extensive experiments validate the outstanding capabilities of our PlacidDreamer. The code is available at \url{https://github.com/HansenHuang0823/PlacidDreamer}.
Enhancing Graph Neural Networks with Limited Labeled Data by Actively Distilling Knowledge from Large Language Models
Venue: arXiv cs.LG 2024
Year: 2024

Graphs are pervasive in the real-world, such as social network analysis, bioinformatics, and knowledge graphs. Graph neural networks (GNNs) have great ability in node classification, a fundamental task on graphs. Unfortunately, conventional GNNs still face challenges in scenarios with few labeled nodes, despite the prevalence of few-shot node classification tasks in real-world applications. To address this challenge, various approaches have been proposed, including graph meta-learning, transfer learning, and methods based on Large Language Models (LLMs). However, traditional meta-learning and transfer learning methods often require prior knowledge from base classes or fail to exploit the potential advantages of unlabeled nodes. Meanwhile, LLM-based methods may overlook the zero-shot capabilities of LLMs and rely heavily on the quality of generated contexts. In this paper, we propose a novel approach that integrates LLMs and GNNs, leveraging the zero-shot inference and reasoning capabilities of LLMs and employing a Graph-LLM-based active learning paradigm to enhance GNNs' performance. Extensive experiments demonstrate the effectiveness of our model in improving node classification accuracy with considerably limited labeled data, surpassing state-of-the-art baselines by significant margins.
Component Selection for Craft Assembly Tasks
Venue: arXiv cs.CV 2024
Year: 2024

Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of a given target object using the available objects, which do not directly correspond to its parts. In this work, we focus on selecting the subset of available objects for the final craft, when the given input is an RGB image of the target in the wild. We use a mask segmentation neural network to identify visible parts, followed by retrieving labelled template meshes. These meshes undergo pose optimization to determine the most suitable template. Then, we propose to simplify the parts of the transformed template mesh to primitive shapes like cuboids or cylinders. Finally, we design a search algorithm to find correspondences in the scene based on local and global proportions. We develop baselines for comparison that consider all possible combinations, and choose the highest scoring combination for common metrics used in foreground maps and mask accuracy. Our approach achieves comparable results to the baselines for two different scenes, and we show qualitative results for an implementation in a real-world scenario.
Investigating the Indirect Object Identification circuit in Mamba
Venue: arXiv cs.LG 2024
Year: 2024

How well will current interpretability techniques generalize to future models? A relevant case study is Mamba, a recent recurrent architecture with scaling comparable to Transformers. We adapt pre-Mamba techniques to Mamba and partially reverse-engineer the circuit responsible for the Indirect Object Identification (IOI) task. Our techniques provide evidence that 1) Layer 39 is a key bottleneck, 2) Convolutions in layer 39 shift names one position forward, and 3) The name entities are stored linearly in Layer 39's SSM. Finally, we adapt an automatic circuit discovery tool, positional Edge Attribution Patching, to identify a Mamba IOI circuit. Our contributions provide initial evidence that circuit-based mechanistic interpretability tools work well for the Mamba architecture.
OCTrack: Benchmarking the Open-Corpus Multi-Object Tracking
Venue: arXiv cs.CV 2024
Year: 2024

We study a novel yet practical problem of open-corpus multi-object tracking (OCMOT), which extends the MOT into localizing, associating, and recognizing generic-category objects of both seen (base) and unseen (novel) classes, but without the category text list as prompt. To study this problem, the top priority is to build a benchmark. In this work, we build OCTrackB, a large-scale and comprehensive benchmark, to provide a standard evaluation platform for the OCMOT problem. Compared to previous datasets, OCTrackB has more abundant and balanced base/novel classes and the corresponding samples for evaluation with less bias. We also propose a new multi-granularity recognition metric to better evaluate the generative object recognition in OCMOT. By conducting the extensive benchmark evaluation, we report and analyze the results of various state-of-the-art methods, which demonstrate the rationale of OCMOT, as well as the usefulness and advantages of OCTrackB.
LazyLLM: Dynamic Token Pruning for Efficient Long Context LLM Inference
Venue: arXiv cs.CL 2024
Year: 2024

The inference of transformer-based large language models consists of two sequential stages: 1) a prefilling stage to compute the KV cache of prompts and generate the first token, and 2) a decoding stage to generate subsequent tokens. For long prompts, the KV cache must be computed for all tokens during the prefilling stage, which can significantly increase the time needed to generate the first token. Consequently, the prefilling stage may become a bottleneck in the generation process. An open question remains whether all prompt tokens are essential for generating the first token. To answer this, we introduce a novel method, LazyLLM, that selectively computes the KV for tokens important for the next token prediction in both the prefilling and decoding stages. Contrary to static pruning approaches that prune the prompt at once, LazyLLM allows language models to dynamically select different subsets of tokens from the context in different generation steps, even though they might be pruned in previous steps. Extensive experiments on standard datasets across various tasks demonstrate that LazyLLM is a generic method that can be seamlessly integrated with existing language models to significantly accelerate the generation without fine-tuning. For instance, in the multi-document question-answering task, LazyLLM accelerates the prefilling stage of the LLama 2 7B model by 2.34x while maintaining accuracy.
An Improved Method for Class-specific Keyword Extraction: A Case Study in the German Business Registry
Venue: arXiv cs.CL 2024
Year: 2024

The task of $\textit{keyword extraction}$ is often an important initial step in unsupervised information extraction, forming the basis for tasks such as topic modeling or document classification. While recent methods have proven to be quite effective in the extraction of keywords, the identification of $\textit{class-specific}$ keywords, or only those pertaining to a predefined class, remains challenging. In this work, we propose an improved method for class-specific keyword extraction, which builds upon the popular $\textbf{KeyBERT}$ library to identify only keywords related to a class described by $\textit{seed keywords}$. We test this method using a dataset of German business registry entries, where the goal is to classify each business according to an economic sector. Our results reveal that our method greatly improves upon previous approaches, setting a new standard for $\textit{class-specific}$ keyword extraction.