OpenRaiser/Intern-Atlas huggingface dataset:
Revisión de Métodos de Planificación de Camino de Cobertura para Entornos Agrícolas
Venue: arXiv cs.RO 2024
Year: 2024

The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current state of the art of coverage path planning methods. Two widely used techniques applicable to agricultural environments are described in detail. The first consists of breaking down a complex field with obstacles into simpler subregions known as cells, to subsequently generate a coverage pattern in each of them. The second analyzes spaces composed of parallel strips through which the robot must circulate, in order to find the optimal order of visiting strips that minimizes the total distance traveled. Additionally, the combination of both techniques is discussed in order to obtain a more efficient global coverage plan. This analysis was conceived to be implemented with the soybean crop weeding robot developed at CIFASIS (CONICET-UNR).
SUPER: Seated Upper Body Pose Estimation using mmWave Radars
Venue: arXiv cs.CV 2024
Year: 2024

In industrial countries, adults spend a considerable amount of time sedentary each day at work, driving and during activities of daily living. Characterizing the seated upper body human poses using mmWave radars is an important, yet under-studied topic with many applications in human-machine interaction, transportation and road safety. In this work, we devise SUPER, a framework for seated upper body human pose estimation that utilizes dual-mmWave radars in close proximity. A novel masking algorithm is proposed to coherently fuse data from the radars to generate intensity and Doppler point clouds with complementary information for high-motion but small radar cross section areas (e.g., upper extremities) and low-motion but large RCS areas (e.g. torso). A lightweight neural network extracts both global and local features of upper body and output pose parameters for the Skinned Multi-Person Linear (SMPL) model. Extensive leave-one-subject-out experiments on various motion sequences from multiple subjects show that SUPER outperforms a state-of-the-art baseline method by 30 -- 184%. We also demonstrate its utility in a simple downstream task for hand-object interaction.
Decentralized Intelligence Network (DIN)
Venue: arXiv cs.CR 2024
Year: 2024

Decentralized Intelligence Network (DIN) is a theoretical framework designed to address challenges in AI development, particularly focusing on data fragmentation and siloing issues. It facilitates effective AI training within sovereign data networks by overcoming barriers to accessing diverse data sources, leveraging: 1) personal data stores to ensure data sovereignty, where data remains securely within Participants' control; 2) a scalable federated learning protocol implemented on a public blockchain for decentralized AI training, where only model parameter updates are shared, keeping data within the personal data stores; and 3) a scalable, trustless cryptographic rewards mechanism on a public blockchain to incentivize participation and ensure fair reward distribution through a decentralized auditing protocol. This approach guarantees that no entity can prevent or control access to training data or influence financial benefits, as coordination and reward distribution are managed on the public blockchain with an immutable record. The framework supports effective AI training by allowing Participants to maintain control over their data, benefit financially, and contribute to a decentralized, scalable ecosystem that leverages collective AI to develop beneficial algorithms.
Understanding Alignment in Multimodal LLMs: A Comprehensive Study
Venue: arXiv cs.CV 2024
Year: 2024

Preference alignment has become a crucial component in enhancing the performance of Large Language Models (LLMs), yet its impact in Multimodal Large Language Models (MLLMs) remains comparatively underexplored. Similar to language models, MLLMs for image understanding tasks encounter challenges like hallucination. In MLLMs, hallucination can occur not only by stating incorrect facts but also by producing responses that are inconsistent with the image content. A primary objective of alignment for MLLMs is to encourage these models to align responses more closely with image information. Recently, multiple works have introduced preference datasets for MLLMs and examined different alignment methods, including Direct Preference Optimization (DPO) and Proximal Policy Optimization (PPO). However, due to variations in datasets, base model types, and alignment methods, it remains unclear which specific elements contribute most significantly to the reported improvements in these works. In this paper, we independently analyze each aspect of preference alignment in MLLMs. We start by categorizing the alignment algorithms into two groups, offline (such as DPO), and online (such as online-DPO), and show that combining offline and online methods can improve the performance of the model in certain scenarios. We review a variety of published multimodal preference datasets and discuss how the details of their construction impact model performance. Based on these insights, we introduce a novel way of creating multimodal preference data called Bias-Driven Hallucination Sampling (BDHS) that needs neither additional annotation nor external models, and show that it can achieve competitive performance to previously published alignment work for multimodal models across a range of benchmarks.
An Embedded Decision Support System for Runway Safety and Excursion Avoidance
Venue: arXiv cs.RO 2024
Year: 2024

Runway Safety Assistant Foreseeing Excursions (RUN.S.A.F.E.) is a complete embedded system solution that predicts a potential runway overrun during the takeoff and landing of a civil aviation aircraft. The system executes both static and dynamic calculations, the former being completely dependent, while the latter completely independent to the user's inputs. The solution is adapted to a Boeing 737-800 aircraft, with CFM56-7B engines. However, the calculations also apply for similar aicrafts, equipped with a tricycle landing gear and turbofan engines. The system is aligned with current regulations and certification specifications, where applicable.
A MgNO Method for Multiphase Flow in Porous Media
Venue: arXiv cs.CE 2024
Year: 2024

This research investigates the application of Multigrid Neural Operator (MgNO), a neural operator architecture inspired by multigrid methods, in the simulation for multiphase flow within porous media. The architecture is adjusted to manage a variety of crucial factors, such as permeability and porosity heterogeneity. The study extendes MgNO to time-dependent porous media flow problems and validate its accuracy in predicting essential aspects of multiphase flows. Furthermore, the research provides a detailed comparison between MgNO and Fourier Neural Opeartor (FNO), which is one of the most popular neural operator methods, on their performance regarding prediction error accumulation over time. This aspect provides valuable insights into the models' long-term predictive stability and reliability. The study demonstrates MgNO's capability to effectively simulate multiphase flow problems, offering considerable time savings compared to traditional simulation methods, marking an advancement in integrating data-driven methodologies in geoscience applications.
Variables are a Curse in Software Vulnerability Prediction
Venue: arXiv cs.SE 2024
Year: 2024

Deep learning-based approaches for software vulnerability prediction currently mainly rely on the original text of software code as the feature of nodes in the graph of code and thus could learn a representation that is only specific to the code text, rather than the representation that depicts the 'intrinsic' functionality of a program hidden in the text representation. One curse that causes this problem is an infinite number of possibilities to name a variable. In order to lift the curse, in this work we introduce a new type of edge called name dependence, a type of abstract syntax graph based on the name dependence, and an efficient node representation method named 3-property encoding scheme. These techniques will allow us to remove the concrete variable names from code, and facilitate deep learning models to learn the functionality of software hidden in diverse code expressions. The experimental results show that the deep learning models built on these techniques outperform the ones based on existing approaches not only in the prediction of vulnerabilities but also in the memory need. The factor of memory usage reductions of our techniques can be up to the order of 30,000 in comparison to existing approaches.
Performance Comparison of Deep RL Algorithms for Mixed Traffic Cooperative Lane-Changing
Venue: arXiv cs.RO 2024
Year: 2024

Lane-changing (LC) is a challenging scenario for connected and automated vehicles (CAVs) because of the complex dynamics and high uncertainty of the traffic environment. This challenge can be handled by deep reinforcement learning (DRL) approaches, leveraging their data-driven and model-free nature. Our previous work proposed a cooperative lane-changing in mixed traffic (CLCMT) mechanism based on TD3 to facilitate an optimal lane-changing strategy. This study enhances the current CLCMT mechanism by considering both the uncertainty of the human-driven vehicles (HVs) and the microscopic interactions between HVs and CAVs. The state-of-the-art (SOTA) DRL algorithms including DDPG, TD3, SAC, and PPO are utilized to deal with the formulated MDP with continuous actions. Performance comparison among the four DRL algorithms demonstrates that DDPG, TD3, and PPO algorithms can deal with uncertainty in traffic environments and learn well-performed LC strategies in terms of safety, efficiency, comfort, and ecology. The PPO algorithm outperforms the other three algorithms, regarding a higher reward, fewer exploration mistakes and crashes, and a more comfortable and ecology LC strategy. The improvements promise CLCMT mechanism greater advantages in the LC motion planning of CAVs.
Image-to-Text Logic Jailbreak: Your Imagination can Help You Do Anything
Venue: arXiv cs.CR 2024
Year: 2024

Large Visual Language Model\textbfs (VLMs) such as GPT-4V have achieved remarkable success in generating comprehensive and nuanced responses. Researchers have proposed various benchmarks for evaluating the capabilities of VLMs. With the integration of visual and text inputs in VLMs, new security issues emerge, as malicious attackers can exploit multiple modalities to achieve their objectives. This has led to increasing attention on the vulnerabilities of VLMs to jailbreak. Most existing research focuses on generating adversarial images or nonsensical image to jailbreak these models. However, no researchers evaluate whether logic understanding capabilities of VLMs in flowchart can influence jailbreak. Therefore, to fill this gap, this paper first introduces a novel dataset Flow-JD specifically designed to evaluate the logic-based flowchart jailbreak capabilities of VLMs. We conduct an extensive evaluation on GPT-4o, GPT-4V, other 5 SOTA open source VLMs and the jailbreak rate is up to 92.8%. Our research reveals significant vulnerabilities in current VLMs concerning image-to-text jailbreak and these findings underscore the the urgency for the development of robust and effective future defenses.
Research on Autonomous Robots Navigation based on Reinforcement Learning
Venue: arXiv cs.RO 2024
Year: 2024

Reinforcement learning continuously optimizes decision-making based on real-time feedback reward signals through continuous interaction with the environment, demonstrating strong adaptive and self-learning capabilities. In recent years, it has become one of the key methods to achieve autonomous navigation of robots. In this work, an autonomous robot navigation method based on reinforcement learning is introduced. We use the Deep Q Network (DQN) and Proximal Policy Optimization (PPO) models to optimize the path planning and decision-making process through the continuous interaction between the robot and the environment, and the reward signals with real-time feedback. By combining the Q-value function with the deep neural network, deep Q network can handle high-dimensional state space, so as to realize path planning in complex environments. Proximal policy optimization is a strategy gradient-based method, which enables robots to explore and utilize environmental information more efficiently by optimizing policy functions. These methods not only improve the robot's navigation ability in the unknown environment, but also enhance its adaptive and self-learning capabilities. Through multiple training and simulation experiments, we have verified the effectiveness and robustness of these models in various complex scenarios.
Linear Submodular Maximization with Bandit Feedback
Venue: arXiv cs.LG 2024
Year: 2024

Submodular optimization with bandit feedback has recently been studied in a variety of contexts. In a number of real-world applications such as diversified recommender systems and data summarization, the submodular function exhibits additional linear structure. We consider developing approximation algorithms for the maximization of a submodular objective function $f:2^U\to\mathbb{R}_{\geq 0}$, where $f=\sum_{i=1}^dw_iF_{i}$. It is assumed that we have value oracle access to the functions $F_i$, but the coefficients $w_i$ are unknown, and $f$ can only be accessed via noisy queries. We develop algorithms for this setting inspired by adaptive allocation algorithms in the best-arm identification for linear bandit, with approximation guarantees arbitrarily close to the setting where we have value oracle access to $f$. Finally, we empirically demonstrate that our algorithms make vast improvements in terms of sample efficiency compared to algorithms that do not exploit the linear structure of $f$ on instances of move recommendation.
D-Rax: Domain-specific Radiologic assistant leveraging multi-modal data and eXpert model predictions
Venue: arXiv cs.AI 2024
Year: 2024

Large vision language models (VLMs) have progressed incredibly from research to applicability for general-purpose use cases. LLaVA-Med, a pioneering large language and vision assistant for biomedicine, can perform multi-modal biomedical image and data analysis to provide a natural language interface for radiologists. While it is highly generalizable and works with multi-modal data, it is currently limited by well-known challenges that exist in the large language model space. Hallucinations and imprecision in responses can lead to misdiagnosis which currently hinder the clinical adaptability of VLMs. To create precise, user-friendly models in healthcare, we propose D-Rax -- a domain-specific, conversational, radiologic assistance tool that can be used to gain insights about a particular radiologic image. In this study, we enhance the conversational analysis of chest X-ray (CXR) images to support radiological reporting, offering comprehensive insights from medical imaging and aiding in the formulation of accurate diagnosis. D-Rax is achieved by fine-tuning the LLaVA-Med architecture on our curated enhanced instruction-following data, comprising of images, instructions, as well as disease diagnosis and demographic predictions derived from MIMIC-CXR imaging data, CXR-related visual question answer (VQA) pairs, and predictive outcomes from multiple expert AI models. We observe statistically significant improvement in responses when evaluated for both open and close-ended conversations. Leveraging the power of state-of-the-art diagnostic models combined with VLMs, D-Rax empowers clinicians to interact with medical images using natural language, which could potentially streamline their decision-making process, enhance diagnostic accuracy, and conserve their time.
Wildfire Autonomous Response and Prediction Using Cellular Automata (WARP-CA)
Venue: arXiv cs.AI 2024
Year: 2024

Wildfires pose a severe challenge to ecosystems and human settlements, exacerbated by climate change and environmental factors. Traditional wildfire modeling, while useful, often fails to adapt to the rapid dynamics of such events. This report introduces the (Wildfire Autonomous Response and Prediction Using Cellular Automata) WARP-CA model, a novel approach that integrates terrain generation using Perlin noise with the dynamism of Cellular Automata (CA) to simulate wildfire spread. We explore the potential of Multi-Agent Reinforcement Learning (MARL) to manage wildfires by simulating autonomous agents, such as UAVs and UGVs, within a collaborative framework. Our methodology combines world simulation techniques and investigates emergent behaviors in MARL, focusing on efficient wildfire suppression and considering critical environmental factors like wind patterns and terrain features.
Learning Graph Structures and Uncertainty for Accurate and Calibrated Time-series Forecasting
Venue: arXiv cs.LG 2024
Year: 2024

Multi-variate time series forecasting is an important problem with a wide range of applications. Recent works model the relations between time-series as graphs and have shown that propagating information over the relation graph can improve time series forecasting. However, in many cases, relational information is not available or is noisy and reliable. Moreover, most works ignore the underlying uncertainty of time-series both for structure learning and deriving the forecasts resulting in the structure not capturing the uncertainty resulting in forecast distributions with poor uncertainty estimates. We tackle this challenge and introduce STOIC, that leverages stochastic correlations between time-series to learn underlying structure between time-series and to provide well-calibrated and accurate forecasts. Over a wide-range of benchmark datasets STOIC provides around 16% more accurate and 14% better-calibrated forecasts. STOIC also shows better adaptation to noise in data during inference and captures important and useful relational information in various benchmarks.
Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models
Venue: arXiv cs.RO 2024
Year: 2024

Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and navigate out of dead ends. However, the robot's controller needs to respond intelligently to such varied obstacles, and this requires handling unexpected and unusual scenarios successfully. This presents an open challenge to current learning methods, which often struggle with generalization to the long tail of unexpected situations without heavy human supervision. To address this issue, we investigate how to leverage the broad knowledge about the structure of the world and commonsense reasoning capabilities of vision-language models (VLMs) to aid legged robots in handling difficult, ambiguous situations. We propose a system, VLM-Predictive Control (VLM-PC), combining two key components that we find to be crucial for eliciting on-the-fly, adaptive behavior selection with VLMs: (1) in-context adaptation over previous robot interactions and (2) planning multiple skills into the future and replanning. We evaluate VLM-PC on several challenging real-world obstacle courses, involving dead ends and climbing and crawling, on a Go1 quadruped robot. Our experiments show that by reasoning over the history of interactions and future plans, VLMs enable the robot to autonomously perceive, navigate, and act in a wide range of complex scenarios that would otherwise require environment-specific engineering or human guidance.
Adversarial Magnification to Deceive Deepfake Detection through Super Resolution
Venue: arXiv cs.CV 2024
Year: 2024

Deepfake technology is rapidly advancing, posing significant challenges to the detection of manipulated media content. Parallel to that, some adversarial attack techniques have been developed to fool the deepfake detectors and make deepfakes even more difficult to be detected. This paper explores the application of super resolution techniques as a possible adversarial attack in deepfake detection. Through our experiments, we demonstrate that minimal changes made by these methods in the visual appearance of images can have a profound impact on the performance of deepfake detection systems. We propose a novel attack using super resolution as a quick, black-box and effective method to camouflage fake images and/or generate false alarms on pristine images. Our results indicate that the usage of super resolution can significantly impair the accuracy of deepfake detectors, thereby highlighting the vulnerability of such systems to adversarial attacks. The code to reproduce our experiments is available at: https://github.com/davide-coccomini/Adversarial-Magnification-to-Deceive-Deepfake-Detection-through-Super-Resolution
Reasoning in Large Language Models: A Geometric Perspective
Venue: arXiv cs.AI 2024
Year: 2024

The advancement of large language models (LLMs) for real-world applications hinges critically on enhancing their reasoning capabilities. In this work, we explore the reasoning abilities of large language models (LLMs) through their geometrical understanding. We establish a connection between the expressive power of LLMs and the density of their self-attention graphs. Our analysis demonstrates that the density of these graphs defines the intrinsic dimension of the inputs to the MLP blocks. We demonstrate through theoretical analysis and toy examples that a higher intrinsic dimension implies a greater expressive capacity of the LLM. We further provide empirical evidence linking this geometric framework to recent advancements in methods aimed at enhancing the reasoning capabilities of LLMs.
Accelerating Distributed Optimization: A Primal-Dual Perspective on Local Steps
Venue: arXiv cs.LG 2024
Year: 2024

In distributed machine learning, efficient training across multiple agents with different data distributions poses significant challenges. Even with a centralized coordinator, current algorithms that achieve optimal communication complexity typically require either large minibatches or compromise on gradient complexity. In this work, we tackle both centralized and decentralized settings across strongly convex, convex, and nonconvex objectives. We first demonstrate that a basic primal-dual method, (Accelerated) Gradient Ascent Multiple Stochastic Gradient Descent (GA-MSGD), applied to the Lagrangian of distributed optimization inherently incorporates local updates, because the inner loops of running Stochastic Gradient Descent on the primal variable require no inter-agent communication. Notably, for strongly convex objectives, (Accelerated) GA-MSGD achieves linear convergence in communication rounds despite the Lagrangian being only linear in the dual variables. This is due to a structural property where the dual variable is confined to the span of the coupling matrix, rendering the dual problem strongly concave. When integrated with the Catalyst framework, our approach achieves nearly optimal communication complexity across various settings without the need for minibatches.