OpenRaiser/Intern-Atlas huggingface dataset:
On the Adversarial Robustness of Camera-based 3D Object Detection
Venue: arXiv cs.CV 2024
Year: 2024

In recent years, camera-based 3D object detection has gained widespread attention for its ability to achieve high performance with low computational cost. However, the robustness of these methods to adversarial attacks has not been thoroughly examined, especially when considering their deployment in safety-critical domains like autonomous driving. In this study, we conduct the first comprehensive investigation of the robustness of leading camera-based 3D object detection approaches under various adversarial conditions. We systematically analyze the resilience of these models under two attack settings: white-box and black-box; focusing on two primary objectives: classification and localization. Additionally, we delve into two types of adversarial attack techniques: pixel-based and patch-based. Our experiments yield four interesting findings: (a) bird's-eye-view-based representations exhibit stronger robustness against localization attacks; (b) depth-estimation-free approaches have the potential to show stronger robustness; (c) accurate depth estimation effectively improves robustness for depth-estimation-based methods; (d) incorporating multi-frame benign inputs can effectively mitigate adversarial attacks. We hope our findings can steer the development of future camera-based object detection models with enhanced adversarial robustness.
When Layers Play the Lottery, all Tickets Win at Initialization
Venue: arXiv cs.LG 2024
Year: 2024

Pruning is a standard technique for reducing the computational cost of deep networks. Many advances in pruning leverage concepts from the Lottery Ticket Hypothesis (LTH). LTH reveals that inside a trained dense network exists sparse subnetworks (tickets) able to achieve similar accuracy (i.e., win the lottery - winning tickets). Pruning at initialization focuses on finding winning tickets without training a dense network. Studies on these concepts share the trend that subnetworks come from weight or filter pruning. In this work, we investigate LTH and pruning at initialization from the lens of layer pruning. First, we confirm the existence of winning tickets when the pruning process removes layers. Leveraged by this observation, we propose to discover these winning tickets at initialization, eliminating the requirement of heavy computational resources for training the initial (over-parameterized) dense network. Extensive experiments show that our winning tickets notably speed up the training phase and reduce up to 51% of carbon emission, an important step towards democratization and green Artificial Intelligence. Beyond computational benefits, our winning tickets exhibit robustness against adversarial and out-of-distribution examples. Finally, we show that our subnetworks easily win the lottery at initialization while tickets from filter removal (the standard structured LTH) hardly become winning tickets.
Principled Reinforcement Learning with Human Feedback from Pairwise or $K$-wise Comparisons
Venue: arXiv cs.LG 2024
Year: 2024

We provide a theoretical framework for Reinforcement Learning with Human Feedback (RLHF). Our analysis shows that when the true reward function is linear, the widely used maximum likelihood estimator (MLE) converges under both the Bradley-Terry-Luce (BTL) model and the Plackett-Luce (PL) model. However, we show that when training a policy based on the learned reward model, MLE fails while a pessimistic MLE provides policies with improved performance under certain coverage assumptions. Additionally, we demonstrate that under the PL model, the true MLE and an alternative MLE that splits the $K$-wise comparison into pairwise comparisons both converge. Moreover, the true MLE is asymptotically more efficient. Our results validate the empirical success of existing RLHF algorithms in InstructGPT and provide new insights for algorithm design. Furthermore, our results unify the problem of RLHF and max-entropy Inverse Reinforcement Learning (IRL), and provide the first sample complexity bound for max-entropy IRL.
Generalized Munchausen Reinforcement Learning using Tsallis KL Divergence
Venue: arXiv cs.LG 2024
Year: 2024

Many policy optimization approaches in reinforcement learning incorporate a Kullback-Leilbler (KL) divergence to the previous policy, to prevent the policy from changing too quickly. This idea was initially proposed in a seminal paper on Conservative Policy Iteration, with approximations given by algorithms like TRPO and Munchausen Value Iteration (MVI). We continue this line of work by investigating a generalized KL divergence -- called the Tsallis KL divergence -- which use the $q$-logarithm in the definition. The approach is a strict generalization, as $q = 1$ corresponds to the standard KL divergence; $q > 1$ provides a range of new options. We characterize the types of policies learned under the Tsallis KL, and motivate when $q >1$ could be beneficial. To obtain a practical algorithm that incorporates Tsallis KL regularization, we extend MVI, which is one of the simplest approaches to incorporate KL regularization. We show that this generalized MVI($q$) obtains significant improvements over the standard MVI($q = 1$) across 35 Atari games.
AutoPEFT: Automatic Configuration Search for Parameter-Efficient Fine-Tuning
Venue: arXiv cs.CL 2024
Year: 2024

Large pretrained language models are widely used in downstream NLP tasks via task-specific fine-tuning, but such procedures can be costly. Recently, Parameter-Efficient Fine-Tuning (PEFT) methods have achieved strong task performance while updating much fewer parameters than full model fine-tuning (FFT). However, it is non-trivial to make informed design choices on the PEFT configurations, such as their architecture, the number of tunable parameters, and even the layers in which the PEFT modules are inserted. Consequently, it is highly likely that the current, manually designed configurations are suboptimal in terms of their performance-efficiency trade-off. Inspired by advances in neural architecture search, we propose AutoPEFT for automatic PEFT configuration selection: we first design an expressive configuration search space with multiple representative PEFT modules as building blocks. Using multi-objective Bayesian optimisation in a low-cost setup, we then discover a Pareto-optimal set of configurations with strong performance-cost trade-offs across different numbers of parameters that are also highly transferable across different tasks. Empirically, on GLUE and SuperGLUE tasks, we show that AutoPEFT-discovered configurations significantly outperform existing PEFT methods and are on par or better than FFT without incurring substantial training efficiency costs.
PAC-Bayesian Soft Actor-Critic Learning
Venue: arXiv cs.LG 2024
Year: 2024

Actor-critic algorithms address the dual goals of reinforcement learning (RL), policy evaluation and improvement via two separate function approximators. The practicality of this approach comes at the expense of training instability, caused mainly by the destructive effect of the approximation errors of the critic on the actor. We tackle this bottleneck by employing an existing Probably Approximately Correct (PAC) Bayesian bound for the first time as the critic training objective of the Soft Actor-Critic (SAC) algorithm. We further demonstrate that online learning performance improves significantly when a stochastic actor explores multiple futures by critic-guided random search. We observe our resulting algorithm to compare favorably against the state-of-the-art SAC implementation on multiple classical control and locomotion tasks in terms of both sample efficiency and regret.
Simulating the Integration of Urban Air Mobility into Existing Transportation Systems: A Survey
Venue: arXiv cs.RO 2024
Year: 2024

Urban air mobility (UAM) has the potential to revolutionize transportation in metropolitan areas, providing a new mode of transportation that could alleviate congestion and improve accessibility. However, the integration of UAM into existing transportation systems is a complex task that requires a thorough understanding of its impact on traffic flow and capacity. In this paper, we conduct a survey to investigate the current state of research on UAM in metropolitan-scale traffic using simulation techniques. We identify key challenges and opportunities for the integration of UAM into urban transportation systems, including impacts on existing traffic patterns and congestion; safety analysis and risk assessment; potential economic and environmental benefits; and the development of shared infrastructure and routes for UAM and ground-based transportation. We also discuss the potential benefits of UAM, such as reduced travel times and improved accessibility for underserved areas. Our survey provides a comprehensive overview of the current state of research on UAM in metropolitan-scale traffic using simulation and highlights key areas for future research and development.
On student-teacher deviations in distillation: does it pay to disobey?
Venue: arXiv cs.LG 2024
Year: 2024

Knowledge distillation (KD) has been widely used to improve the test accuracy of a "student" network, by training it to mimic the soft probabilities of a trained "teacher" network. Yet, it has been shown in recent work that, despite being trained to fit the teacher's probabilities, the student may not only significantly deviate from the teacher probabilities, but may also outdo than the teacher in performance. Our work aims to reconcile this seemingly paradoxical observation. Specifically, we characterize the precise nature of the student-teacher deviations, and argue how they can co-occur with better generalization. First, through experiments on image and language data, we identify that these probability deviations correspond to the student systematically exaggerating the confidence levels of the teacher. Next, we theoretically and empirically establish another form of exaggeration in some simple settings: KD exaggerates the implicit bias of gradient descent in converging faster along the top eigendirections of the data. Finally, we tie these two observations together: we demonstrate that the exaggerated bias of KD can simultaneously result in both (a) the exaggeration of confidence and (b) the improved generalization of the student, thus offering a resolution to the apparent paradox. Our analysis brings existing theory and practice closer by considering the role of gradient descent in KD and by demonstrating the exaggerated bias effect in both theoretical and empirical settings.
Unraveling Privacy Risks of Individual Fairness in Graph Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

Graph neural networks (GNNs) have gained significant attraction due to their expansive real-world applications. To build trustworthy GNNs, two aspects - fairness and privacy - have emerged as critical considerations. Previous studies have separately examined the fairness and privacy aspects of GNNs, revealing their trade-off with GNN performance. Yet, the interplay between these two aspects remains unexplored. In this paper, we pioneer the exploration of the interaction between the privacy risks of edge leakage and the individual fairness of a GNN. Our theoretical analysis unravels that edge privacy risks unfortunately escalate when the nodes' individual fairness improves. Such an issue hinders the accomplishment of privacy and fairness of GNNs at the same time. To balance fairness and privacy, we carefully introduce fairness-aware loss reweighting based on influence function and privacy-aware graph structure perturbation modules within a fine-tuning mechanism. Experimental results underscore the effectiveness of our approach in achieving GNN fairness with limited performance compromise and controlled privacy risks. This work contributes to the comprehensively developing trustworthy GNNs by simultaneously addressing both fairness and privacy aspects.
Optimal Transport Perturbations for Safe Reinforcement Learning with Robustness Guarantees
Venue: arXiv cs.LG 2024
Year: 2024

Robustness and safety are critical for the trustworthy deployment of deep reinforcement learning. Real-world decision making applications require algorithms that can guarantee robust performance and safety in the presence of general environment disturbances, while making limited assumptions on the data collection process during training. In order to accomplish this goal, we introduce a safe reinforcement learning framework that incorporates robustness through the use of an optimal transport cost uncertainty set. We provide an efficient implementation based on applying Optimal Transport Perturbations to construct worst-case virtual state transitions, which does not impact data collection during training and does not require detailed simulator access. In experiments on continuous control tasks with safety constraints, our approach demonstrates robust performance while significantly improving safety at deployment time compared to standard safe reinforcement learning.
MOAT: Towards Safe BPF Kernel Extension
Venue: arXiv cs.CR 2024
Year: 2024

The Linux kernel extensively uses the Berkeley Packet Filter (BPF) to allow user-written BPF applications to execute in the kernel space. The BPF employs a verifier to check the security of user-supplied BPF code statically. Recent attacks show that BPF programs can evade security checks and gain unauthorized access to kernel memory, indicating that the verification process is not flawless. In this paper, we present MOAT, a system that isolates potentially malicious BPF programs using Intel Memory Protection Keys (MPK). Enforcing BPF program isolation with MPK is not straightforward; MOAT is designed to alleviate technical obstacles, such as limited hardware keys and the need to protect a wide variety of BPF helper functions. We implement MOAT on Linux (ver. 6.1.38), and our evaluation shows that MOAT delivers low-cost isolation of BPF programs under mainstream use cases, such as isolating a BPF packet filter with only 3% throughput loss.
Privacy Dashboards for Citizens and corresponding GDPR Services for Small Data Holders: A Literature Review
Venue: arXiv cs.CR 2024
Year: 2024

Citizens have gained many rights with the GDPR, e.g. the right to get a copy of their personal data. In practice, however, this is fraught with problems for citizens and small data holders. We present a literature review on solutions promising relief in the form of privacy dashboards for citizens and GDPR services for small data holders. Covered topics are analyzed, categorized and compared. This is ought to be a step towards both enabling citizens to exercise their GDPR rights and supporting small data holders to comply with their GDPR duties.
Does Vision Accelerate Hierarchical Generalization in Neural Language Learners?
Venue: arXiv cs.CL 2024
Year: 2024

Neural language models (LMs) are arguably less data-efficient than humans from a language acquisition perspective. One fundamental question is why this human-LM gap arises. This study explores the advantage of grounded language acquisition, specifically the impact of visual information -- which humans can usually rely on but LMs largely do not have access to during language acquisition -- on syntactic generalization in LMs. Our experiments, following the poverty of stimulus paradigm under two scenarios (using artificial vs. naturalistic images), demonstrate that if the alignments between the linguistic and visual components are clear in the input, access to vision data does help with the syntactic generalization of LMs, but if not, visual input does not help. This highlights the need for additional biases or signals, such as mutual gaze, to enhance cross-modal alignment and enable efficient syntactic generalization in multimodal LMs.
Versatile Energy-Based Probabilistic Models for High Energy Physics
Venue: arXiv cs.LG 2024
Year: 2024

As a classical generative modeling approach, energy-based models have the natural advantage of flexibility in the form of the energy function. Recently, energy-based models have achieved great success in modeling high-dimensional data in computer vision and natural language processing. In line with these advancements, we build a multi-purpose energy-based probabilistic model for High Energy Physics events at the Large Hadron Collider. This framework builds on a powerful generative model and describes higher-order inter-particle interactions. It suits different encoding architectures and builds on implicit generation. As for applicative aspects, it can serve as a powerful parameterized event generator for physics simulation, a generic anomalous signal detector free from spurious correlations, and an augmented event classifier for particle identification.
Orbit-finite linear programming
Venue: arXiv cs.LO 2024
Year: 2024

An infinite set is orbit-finite if, up to permutations of the underlying structure of atoms, it has only finitely many elements. We study a generalisation of linear programming where constraints are expressed by an orbit-finite system of linear inequalities. As our principal contribution we provide a decision procedure for checking if such a system has a real solution, and for computing the minimal/maximal value of a linear objective function over the solution set. We also show undecidability of these problems in case when only integer solutions are considered. Therefore orbit-finite linear programming is decidable, while orbit-finite integer linear programming is not.
Effective Random Test Generation for Deep Learning Compilers
Venue: arXiv cs.SE 2024
Year: 2024

Deep learning compilers help address the difficulties of deploying deep learning models on diverse types of hardware. Testing deep learning compilers is highly crucial, because they are impacting countless AI applications that use them for model optimization and deployment. To test deep learning compilers, random testing, the testing method popularly used for compiler testing practices, faces the challenge of generating semantically valid test inputs, i.e., deep learning models that satisfy the semantic model specifications (in short as semantic specifications). To tackle this challenge, in this paper, we propose a novel approach named Isra, including a domain-specific constraint solver that resolves the constraints from the semantic specifications without backtracking. We implement and apply our approach to three popular real-world deep learning compilers including TVM, Glow, and a commercial compiler named SophGo. The evaluation results show that Isra is more effective than the state-of-the-art approaches and the baseline approaches on constructing valid test inputs for compiler-bug detection, and Isra successfully finds 24 previously unknown bugs in released versions of the three compilers. These results indicate Isra's effectiveness and practical value.
Computational Dualism and Objective Superintelligence
Venue: arXiv cs.AI 2024
Year: 2024

The concept of intelligent software is flawed. The behaviour of software is determined by the hardware that "interprets" it. This undermines claims regarding the behaviour of theorised, software superintelligence. Here we characterise this problem as "computational dualism", where instead of mental and physical substance, we have software and hardware. We argue that to make objective claims regarding performance we must avoid computational dualism. We propose a pancomputational alternative wherein every aspect of the environment is a relation between irreducible states. We formalise systems as behaviour (inputs and outputs), and cognition as embodied, embedded, extended and enactive. The result is cognition formalised as a part of the environment, rather than as a disembodied policy interacting with the environment through an interpreter. This allows us to make objective claims regarding intelligence, which we argue is the ability to "generalise", identify causes and adapt. We then establish objective upper bounds for intelligent behaviour. This suggests AGI will be safer, but more limited, than theorised.
New Constructions of Optimal Binary LCD Codes
Venue: arXiv cs.IT 2024
Year: 2024

Linear complementary dual (LCD) codes can provide an optimum linear coding solution for the two-user binary adder channel. LCD codes also can be used to against side-channel attacks and fault non-invasive attacks. Let $d_{LCD}(n, k)$ denote the maximum value of $d$ for which a binary $[n,k, d]$ LCD code exists. In \cite{BS21}, Bouyuklieva conjectured that $d_{LCD}(n+1, k)=d_{LCD}(n, k)$ or $d_{LCD}(n, k) + 1$ for any lenth $n$ and dimension $k \ge 2$. In this paper, we first prove Bouyuklieva's conjecture \cite{BS21} by constructing a binary $[n,k,d-1]$ LCD codes from a binary $[n+1,k,d]$ $LCD_{o,e}$ code, when $d \ge 3$ and $k \ge 2$. Then we provide a distance lower bound for binary LCD codes by expanded codes, and use this bound and some methods such as puncturing, shortening, expanding and extension, we construct some new binary LCD codes. Finally, we improve some previously known values of $d_{LCD}(n, k)$ of lengths $38 \le n \le 40$ and dimensions $9 \le k \le 15$. We also obtain some values of $d_{LCD}(n, k)$ with $41 \le n \le 50$ and $6 \le k \le n-6$.
FedLAP-DP: Federated Learning by Sharing Differentially Private Loss Approximations
Venue: arXiv cs.LG 2024
Year: 2024

Conventional gradient-sharing approaches for federated learning (FL), such as FedAvg, rely on aggregation of local models and often face performance degradation under differential privacy (DP) mechanisms or data heterogeneity, which can be attributed to the inconsistency between the local and global objectives. To address this issue, we propose FedLAP-DP, a novel privacy-preserving approach for FL. Our formulation involves clients synthesizing a small set of samples that approximate local loss landscapes by simulating the gradients of real images within a local region. Acting as loss surrogates, these synthetic samples are aggregated on the server side to uncover the global loss landscape and enable global optimization. Building upon these insights, we offer a new perspective to enforce record-level differential privacy in FL. A formal privacy analysis demonstrates that FedLAP-DP incurs the same privacy costs as typical gradient-sharing schemes while achieving an improved trade-off between privacy and utility. Extensive experiments validate the superiority of our approach across various datasets with highly skewed distributions in both DP and non-DP settings. Beyond the promising performance, our approach presents a faster convergence speed compared to typical gradient-sharing methods and opens up the possibility of trading communication costs for better performance by sending a larger set of synthetic images. The source is available at \url{https://github.com/hui-po-wang/FedLAP-DP}.
Printing Protocol: Physical ZKPs for Decomposition Puzzles
Venue: arXiv cs.CR 2024
Year: 2024

Decomposition puzzles are pencil-and-paper logic puzzles that involve partitioning a rectangular grid into several regions to satisfy certain rules. In this paper, we construct a generic card-based protocol called printing protocol, which can be used to physically verify solutions of decompositon puzzles. We apply the printing protocol to develop card-based zero-knowledge proof protocols for two such puzzles: Five Cells and Meadows. These protocols allow a prover to physically show that he/she knows solutions of the puzzles without revealing them.