OpenRaiser/Intern-Atlas huggingface dataset:
InCrowd-VI: A Realistic Visual-Inertial Dataset for Evaluating SLAM in Indoor Pedestrian-Rich Spaces for Human Navigation
Venue: arXiv cs.RO 2024
Year: 2024

Simultaneous localization and mapping (SLAM) techniques can be used to navigate the visually impaired, but the development of robust SLAM solutions for crowded spaces is limited by the lack of realistic datasets. To address this, we introduce InCrowd-VI, a novel visual-inertial dataset specifically designed for human navigation in indoor pedestrian-rich environments. Recorded using Meta Aria Project glasses, it captures realistic scenarios without environmental control. InCrowd-VI features 58 sequences totaling a 5 km trajectory length and 1.5 hours of recording time, including RGB, stereo images, and IMU measurements. The dataset captures important challenges such as pedestrian occlusions, varying crowd densities, complex layouts, and lighting changes. Ground-truth trajectories, accurate to approximately 2 cm, are provided in the dataset, originating from the Meta Aria project machine perception SLAM service. In addition, a semi-dense 3D point cloud of scenes is provided for each sequence. The evaluation of state-of-the-art visual odometry (VO) and SLAM algorithms on InCrowd-VI revealed severe performance limitations in these realistic scenarios. Under challenging conditions, systems exceeded the required localization accuracy of 0.5 meters and the 1\% drift threshold, with classical methods showing drift up to 5-10\%. While deep learning-based approaches maintained high pose estimation coverage (>90\%), they failed to achieve real-time processing speeds necessary for walking pace navigation. These results demonstrate the need and value of a new dataset to advance SLAM research for visually impaired navigation in complex indoor environments. The dataset and associated tools are publicly available at https://incrowd-vi.cloudlab.zhaw.ch/.
ROSMonitoring 2.0: Extending ROS Runtime Verification to Services and Ordered Topics
Venue: arXiv cs.SE 2024
Year: 2024

Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both topics and services while considering the order in which messages are published and received. The framework has been enhanced to support these novel features for ROS1 -- and partially ROS2 environments -- offering improved real-time support, security, scalability, and interoperability. We discuss the modifications made to accommodate these advancements and present results obtained from a case study involving the runtime monitoring of specific components of a fire-fighting Uncrewed Aerial Vehicle (UAV).
Model Checking and Verification of Synchronisation Properties of Cobot Welding
Venue: arXiv cs.RO 2024
Year: 2024

This paper describes use of model checking to verify synchronisation properties of an industrial welding system consisting of a cobot arm and an external turntable. The robots must move synchronously, but sometimes get out of synchronisation, giving rise to unsatisfactory weld qualities in problem areas, such as around corners. These mistakes are costly, since time is lost both in the robotic welding and in manual repairs needed to improve the weld. Verification of the synchronisation properties has shown that they are fulfilled as long as assumptions of correctness made about parts outside the scope of the model hold, indicating limitations in the hardware. These results have indicated the source of the problem, and motivated a re-calibration of the real-life system. This has drastically improved the welding results, and is a demonstration of how formal methods can be useful in an industrial setting.
Learning Fair Robustness via Domain Mixup
Venue: arXiv cs.LG 2024
Year: 2024

Adversarial training is one of the predominant techniques for training classifiers that are robust to adversarial attacks. Recent work, however has found that adversarial training, which makes the overall classifier robust, it does not necessarily provide equal amount of robustness for all classes. In this paper, we propose the use of mixup for the problem of learning fair robust classifiers, which can provide similar robustness across all classes. Specifically, the idea is to mix inputs from the same classes and perform adversarial training on mixed up inputs. We present a theoretical analysis of this idea for the case of linear classifiers and show that mixup combined with adversarial training can provably reduce the class-wise robustness disparity. This method not only contributes to reducing the disparity in class-wise adversarial risk, but also the class-wise natural risk. Complementing our theoretical analysis, we also provide experimental results on both synthetic data and the real world dataset (CIFAR-10), which shows improvement in class wise disparities for both natural and adversarial risks.
Agent-Based Modeling for Multimodal Transportation of $CO_2$ for Carbon Capture, Utilization, and Storage: CCUS-Agent
Venue: arXiv cs.MA 2024
Year: 2024

To understand the system-level interactions between the entities in Carbon Capture, Utilization, and Storage (CCUS), an agent-based foundational modeling tool, CCUS-Agent, is developed for a large-scale study of transportation flows and infrastructure in the United States. Key features of the tool include (i) modular design, (ii) multiple transportation modes, (iii) capabilities for extension, and (iv) testing against various system components and networks of small and large sizes. Five matching algorithms for CO2 supply agents (e.g., powerplants and industrial facilities) and demand agents (e.g., storage and utilization sites) are explored: Most Profitable First Year (MPFY), Most Profitable All Years (MPAY), Shortest Total Distance First Year (SDFY), Shortest Total Distance All Years (SDAY), and Shortest distance to long-haul transport All Years (ACAY). Before matching, the supply agent, demand agent, and route must be available, and the connection must be profitable. A profitable connection means the supply agent portion of revenue from the 45Q tax credit must cover the supply agent costs and all transportation costs, while the demand agent revenue portion must cover all demand agent costs. A case study employing over 5,500 supply and demand agents and multimodal CCUS transportation infrastructure in the contiguous United States is conducted. The results suggest that it is possible to capture over 9 billion tonnes (GT) of CO2 from 2025 to 2043, which will increase significantly to 22 GT if the capture costs are reduced by 40%. The MPFY and SDFY algorithms capture more CO2 earlier in the time horizon, while the MPAY and SDAY algorithms capture more later in the time horizon.
Unlearn to Relearn Backdoors: Deferred Backdoor Functionality Attacks on Deep Learning Models
Venue: arXiv cs.CR 2024
Year: 2024

Deep learning models are vulnerable to backdoor attacks, where adversaries inject malicious functionality during training that activates on trigger inputs at inference time. Extensive research has focused on developing stealthy backdoor attacks to evade detection and defense mechanisms. However, these approaches still have limitations that leave the door open for detection and mitigation due to their inherent design to cause malicious behavior in the presence of a trigger. To address this limitation, we introduce Deferred Activated Backdoor Functionality (DABF), a new paradigm in backdoor attacks. Unlike conventional attacks, DABF initially conceals its backdoor, producing benign outputs even when triggered. This stealthy behavior allows DABF to bypass multiple detection and defense methods, remaining undetected during initial inspections. The backdoor functionality is strategically activated only after the model undergoes subsequent updates, such as retraining on benign data. DABF attacks exploit the common practice in the life cycle of machine learning models to perform model updates and fine-tuning after initial deployment. To implement DABF attacks, we approach the problem by making the unlearning of the backdoor fragile, allowing it to be easily cancelled and subsequently reactivate the backdoor functionality. To achieve this, we propose a novel two-stage training scheme, called DeferBad. Our extensive experiments across various fine-tuning scenarios, backdoor attack types, datasets, and model architectures demonstrate the effectiveness and stealthiness of DeferBad.
Guiding Reinforcement Learning Using Uncertainty-Aware Large Language Models
Venue: arXiv cs.LG 2024
Year: 2024

Human guidance in reinforcement learning (RL) is often impractical for large-scale applications due to high costs and time constraints. Large Language Models (LLMs) offer a promising alternative to mitigate RL sample inefficiency and potentially replace human trainers. However, applying LLMs as RL trainers is challenging due to their overconfidence and less reliable solutions in sequential tasks. We address this limitation by introducing a calibrated guidance system that uses Monte Carlo Dropout to enhance LLM advice reliability by assessing prediction variances from multiple forward passes. Additionally, we develop a novel RL policy shaping method based on dynamic model average entropy to adjust the LLM's influence on RL policies according to guidance uncertainty. This approach ensures robust RL training by relying on reliable LLM guidance. To validate our contributions, we conduct extensive experiments in a Minigrid environment with three goals in varying environment sizes. The results showcase superior model performance compared to uncalibrated LLMs, unguided RL, and calibrated LLMs with different shaping policies. Moreover, we analyze various uncertainty estimation methods, demonstrating the effectiveness of average entropy in reflecting higher uncertainty in incorrect guidance. These findings highlight the persistent overconfidence in fine-tuned LLMs and underscore the importance of effective calibration in sequential decision-making problems.
Leveraging AI and NLP for Bank Marketing: A Systematic Review and Gap Analysis
Venue: arXiv cs.CL 2024
Year: 2024

This paper explores the growing impact of AI and NLP in bank marketing, highlighting their evolving roles in enhancing marketing strategies, improving customer engagement, and creating value within this sector. While AI and NLP have been widely studied in general marketing, there is a notable gap in understanding their specific applications and potential within the banking sector. This research addresses this specific gap by providing a systematic review and strategic analysis of AI and NLP applications in bank marketing, focusing on their integration across the customer journey and operational excellence. Employing the PRISMA methodology, this study systematically reviews existing literature to assess the current landscape of AI and NLP in bank marketing. Additionally, it incorporates semantic mapping using Sentence Transformers and UMAP for strategic gap analysis to identify underexplored areas and opportunities for future research. The systematic review reveals limited research specifically focused on NLP applications in bank marketing. The strategic gap analysis identifies key areas where NLP can further enhance marketing strategies, including customer-centric applications like acquisition, retention, and personalized engagement, offering valuable insights for both academic research and practical implementation. This research contributes to the field of bank marketing by mapping the current state of AI and NLP applications and identifying strategic gaps. The findings provide actionable insights for developing NLP-driven growth and innovation frameworks and highlight the role of NLP in improving operational efficiency and regulatory compliance. This work has broader implications for enhancing customer experience, profitability, and innovation in the banking industry.
Ensuring Safety and Trust: Analyzing the Risks of Large Language Models in Medicine
Venue: arXiv cs.CL 2024
Year: 2024

The remarkable capabilities of Large Language Models (LLMs) make them increasingly compelling for adoption in real-world healthcare applications. However, the risks associated with using LLMs in medical applications have not been systematically characterized. We propose using five key principles for safe and trustworthy medical AI: Truthfulness, Resilience, Fairness, Robustness, and Privacy, along with ten specific aspects. Under this comprehensive framework, we introduce a novel MedGuard benchmark with 1,000 expert-verified questions. Our evaluation of 11 commonly used LLMs shows that the current language models, regardless of their safety alignment mechanisms, generally perform poorly on most of our benchmarks, particularly when compared to the high performance of human physicians. Despite recent reports indicate that advanced LLMs like ChatGPT can match or even exceed human performance in various medical tasks, this study underscores a significant safety gap, highlighting the crucial need for human oversight and the implementation of AI safety guardrails.
Delta-NAS: Difference of Architecture Encoding for Predictor-based Evolutionary Neural Architecture Search
Venue: arXiv cs.CV 2024
Year: 2024

Neural Architecture Search (NAS) continues to serve a key roll in the design and development of neural networks for task specific deployment. Modern NAS techniques struggle to deal with ever increasing search space complexity and compute cost constraints. Existing approaches can be categorized into two buckets: fine-grained computational expensive NAS and coarse-grained low cost NAS. Our objective is to craft an algorithm with the capability to perform fine-grain NAS at a low cost. We propose projecting the problem to a lower dimensional space through predicting the difference in accuracy of a pair of similar networks. This paradigm shift allows for reducing computational complexity from exponential down to linear with respect to the size of the search space. We present a strong mathematical foundation for our algorithm in addition to extensive experimental results across a host of common NAS Benchmarks. Our methods significantly out performs existing works achieving better performance coupled with a significantly higher sample efficiency.
Global Challenge for Safe and Secure LLMs Track 1
Venue: arXiv cs.CR 2024
Year: 2024

This paper introduces the Global Challenge for Safe and Secure Large Language Models (LLMs), a pioneering initiative organized by AI Singapore (AISG) and the CyberSG R&D Programme Office (CRPO) to foster the development of advanced defense mechanisms against automated jailbreaking attacks. With the increasing integration of LLMs in critical sectors such as healthcare, finance, and public administration, ensuring these models are resilient to adversarial attacks is vital for preventing misuse and upholding ethical standards. This competition focused on two distinct tracks designed to evaluate and enhance the robustness of LLM security frameworks. Track 1 tasked participants with developing automated methods to probe LLM vulnerabilities by eliciting undesirable responses, effectively testing the limits of existing safety protocols within LLMs. Participants were challenged to devise techniques that could bypass content safeguards across a diverse array of scenarios, from offensive language to misinformation and illegal activities. Through this process, Track 1 aimed to deepen the understanding of LLM vulnerabilities and provide insights for creating more resilient models.
End-to-End Convolutional Activation Anomaly Analysis for Anomaly Detection
Venue: arXiv cs.LG 2024
Year: 2024

We propose an End-to-end Convolutional Activation Anomaly Analysis (E2E-CA$^3$), which is a significant extension of A$^3$ anomaly detection approach proposed by Sperl, Schulze and Böttinger, both in terms of architecture and scope of application. In contrast to the original idea, we utilize a convolutional autoencoder as a target network, which allows for natural application of the method both to image and tabular data. The alarm network is also designed as a CNN, where the activations of convolutional layers from CAE are stacked together into $k+1-$dimensional tensor. Moreover, we combine the classification loss of the alarm network with the reconstruction error of the target CAE, as a "best of both worlds" approach, which greatly increases the versatility of the network. The evaluation shows that despite generally straightforward and lightweight architecture, it has a very promising anomaly detection performance on common datasets such as MNIST, CIFAR-10 and KDDcup99.
Towards a Middleware for Large Language Models
Venue: arXiv cs.SE 2024
Year: 2024

Large language models have gained widespread popularity for their ability to process natural language inputs and generate insights derived from their training data, nearing the qualities of true artificial intelligence. This advancement has prompted enterprises worldwide to integrate LLMs into their services. So far, this effort is dominated by commercial cloud-based solutions like OpenAI's ChatGPT and Microsoft Azure. As the technology matures, however, there is a strong incentive for independence from major cloud providers through self-hosting "LLM as a Service", driven by privacy, cost, and customization needs. In practice, hosting LLMs independently presents significant challenges due to their complexity and integration issues with existing systems. In this paper, we discuss our vision for a forward-looking middleware system architecture that facilitates the deployment and adoption of LLMs in enterprises, even for advanced use cases in which we foresee LLMs to serve as gateways to a complete application ecosystem and, to some degree, absorb functionality traditionally attributed to the middleware.
A hierarchy of reversible finite automata
Venue: arXiv cs.FL 2024
Year: 2024

In this paper, different variants of reversible finite automata are compared, and their hierarchy by the expressive power is established. It is shown that one-way reversible automata with multiple initial states (MRFA) recognize strictly more languages than sweeping reversible automata (sRFA), which are in turn stronger than one-way reversible automata with a single initial state (1RFA). The latter recognize strictly more languages than one-way permutation automata (1PerFA). It is also shown that the hierarchy of sRFA by the number of passes over the input string collapses: it turns out that three passes are always enough. On the other hand, MRFA form a hierarchy by the number of initial states: their subclass with at most $k$ initial states (MRFA$^k$) recognize strictly fewer languages than MRFA$^{k + 1}$, and also MRFA$^k$ are incomparable with sRFA. In the unary case, sRFA, MRFA$^k$ and MRFA become equal in their expressive power, and the inclusion of 1RFA into sRFA remains proper.
Constructing Trustworthy Smart Contracts
Venue: arXiv cs.CR 2024
Year: 2024

Smart contracts form the core of Web3 applications. Contracts mediate the transfer of cryptocurrency, making them irresistible targets for hackers. We introduce ASP, a system aimed at easing the construction of provably secure contracts. The Asp system consists of three closely-linked components: a programming language, a defensive compiler, and a proof checker. The language semantics guarantee that Asp contracts are free of commonly exploited vulnerabilities such as arithmetic overflow and reentrancy. The defensive compiler enforces the semantics and translates Asp to Solidity, the most popular contract language. Deductive proofs establish functional correctness and freedom from critical vulnerabilities such as unauthorized access.
Maximum Solar Energy Tracking Leverage High-DoF Robotics System with Deep Reinforcement Learning
Venue: arXiv cs.RO 2024
Year: 2024

Solar trajectory monitoring is a pivotal challenge in solar energy systems, underpinning applications such as autonomous energy harvesting and environmental sensing. A prevalent failure mode in sustained solar tracking arises when the predictive algorithm erroneously diverges from the solar locus, erroneously anchoring to extraneous celestial or terrestrial features. This phenomenon is attributable to an inadequate assimilation of solar-specific objectness attributes within the tracking paradigm. To mitigate this deficiency inherent in extant methodologies, we introduce an innovative objectness regularization framework that compels tracking points to remain confined within the delineated boundaries of the solar entity. By encapsulating solar objectness indicators during the training phase, our approach obviates the necessity for explicit solar mask computation during operational deployment. Furthermore, we leverage the high-DoF robot arm to integrate our method to improve its robustness and flexibility in different outdoor environments.
Towards Knowledge Checking in Retrieval-augmented Generation: A Representation Perspective
Venue: arXiv cs.LG 2024
Year: 2024

Retrieval-Augmented Generation (RAG) systems have shown promise in enhancing the performance of Large Language Models (LLMs). However, these systems face challenges in effectively integrating external knowledge with the LLM's internal knowledge, often leading to issues with misleading or unhelpful information. This work aims to provide a systematic study on knowledge checking in RAG systems. We conduct a comprehensive analysis of LLM representation behaviors and demonstrate the significance of using representations in knowledge checking. Motivated by the findings, we further develop representation-based classifiers for knowledge filtering. We show substantial improvements in RAG performance, even when dealing with noisy knowledge databases. Our study provides new insights into leveraging LLM representations for enhancing the reliability and effectiveness of RAG systems.
Synchronisability in Mailbox Communication
Venue: arXiv cs.FL 2024
Year: 2024

We revisit the problem of synchronisability for communicating automata, i.e., whether the language of send messages for an asynchronous system is the same as the language of send messages with a synchronous communication. The un/decidability of the problem depends on the specific asynchronous semantics considered as well as the topology (the communication flow) of the system. Synchronisability is known to be undecidable under the peer-to-peer semantics, while it is still an open problem for mailbox communication. The problem was shown to be decidable for ring topologies. In this paper, we show that when generalising to automata with accepting states, synchronisability is undecidable under the mailbox semantics, this result is obtained by resorting to the Post Correspondence problem. In an attempt to solve the specific problem where all states are accepting, we also show that synchronisability is decidable for tree topologies (where, as well as for rings, peer-to-peer coincides with mailbox semantics). We also discuss synchronisability for multitrees in the mailbox setting.
LLOR: Automated Repair of OpenMP Programs
Venue: arXiv cs.DC 2024
Year: 2024

In this paper, we present a technique for repairing data race errors in parallel programs written in C/C++ and Fortran using the OpenMP API. Our technique can also remove barriers that are deemed unnecessary for correctness. We implement these ideas in our tool called LLOR, which takes a language-independent approach to provide appropriate placements of synchronization constructs to avoid data races. To the best of our knowledge, LLOR is the only tool that can repair parallel programs that use the OpenMP API. We showcase the capabilities of LLOR by performing extensive experiments on 415 parallel programs.