OpenRaiser/Intern-Atlas huggingface dataset:
Exploring Real World Map Change Generalization of Prior-Informed HD Map Prediction Models
Venue: arXiv cs.RO 2024
Year: 2024

Building and maintaining High-Definition (HD) maps represents a large barrier to autonomous vehicle deployment. This, along with advances in modern online map detection models, has sparked renewed interest in the online mapping problem. However, effectively predicting online maps at a high enough quality to enable safe, driverless deployments remains a significant challenge. Recent work on these models proposes training robust online mapping systems using low quality map priors with synthetic perturbations in an attempt to simulate out-of-date HD map priors. In this paper, we investigate how models trained on these synthetically perturbed map priors generalize to performance on deployment-scale, real world map changes. We present a large-scale experimental study to determine which synthetic perturbations are most useful in generalizing to real world HD map changes, evaluated using multiple years of real-world autonomous driving data. We show there is still a substantial sim2real gap between synthetic prior perturbations and observed real-world changes, which limits the utility of current prior-informed HD map prediction models.
A Risk Estimation Study of Native Code Vulnerabilities in Android Applications
Venue: arXiv cs.CR 2024
Year: 2024

Android is the most used Operating System worldwide for mobile devices, with hundreds of thousands of apps downloaded daily. Although these apps are primarily written in Java and Kotlin, advanced functionalities such as graphics or cryptography are provided through native C/C++ libraries. These libraries can be affected by common vulnerabilities in C/C++ code (e.g., memory errors such as buffer overflow), through which attackers can read/modify data or execute arbitrary code. The detection and assessment of vulnerabilities in Android native code have only been recently explored by previous research work. In this paper, we propose a fast risk-based approach that provides a risk score related to the native part of an Android application. In this way, before an app is released, the developer can check if the app may contain vulnerabilities in the Native Code and, if present, patch them to publish a more secure application. To this end, we first use fast regular expressions to detect library versions and possible vulnerable functions. Then, we apply scores extracted from a vulnerability database to the analyzed application, thus obtaining a risk score representative of the whole app. We demonstrate the validity of our approach by performing a large-scale analysis on more than $100,000$ applications (but only $40\%$ contained native code) and $15$ popular libraries carrying known vulnerabilities. The attained results show that many applications contain well-known vulnerabilities that miscreants can potentially exploit, posing serious concerns about the security of the whole Android applications landscape.
ShadowBound: Efficient Heap Memory Protection Through Advanced Metadata Management and Customized Compiler Optimization
Venue: arXiv cs.CR 2024
Year: 2024

In software development, the prevalence of unsafe languages such as C and C++ introduces potential vulnerabilities, especially within the heap, a pivotal component for dynamic memory allocation. Despite its significance, heap management complexities have made heap corruption pervasive, posing severe threats to system security. While prior solutions aiming for temporal and spatial memory safety exhibit overheads deemed impractical, we present ShadowBound, a unique heap memory protection design. At its core, ShadowBound is an efficient out-of-bounds defense that can work with various use-after-free defenses (e.g. MarkUs, FFMalloc, PUMM) without compatibility constraints. We harness a shadow memory-based metadata management mechanism to store heap chunk boundaries and apply customized compiler optimizations tailored for boundary checking. We implemented ShadowBound atop the LLVM framework and integrated three state-of-the-art use-after-free defenses. Our evaluations show that ShadowBound provides robust heap protection with minimal time and memory overhead, suggesting its effectiveness and efficiency in safeguarding real-world programs against prevalent heap vulnerabilities.
Tabular and Deep Learning for the Whittle Index
Venue: arXiv cs.AI 2024
Year: 2024

The Whittle index policy is a heuristic that has shown remarkably good performance (with guaranteed asymptotic optimality) when applied to the class of problems known as Restless Multi-Armed Bandit Problems (RMABPs). In this paper we present QWI and QWINN, two reinforcement learning algorithms, respectively tabular and deep, to learn the Whittle index for the total discounted criterion. The key feature is the use of two time-scales, a faster one to update the state-action Q -values, and a relatively slower one to update the Whittle indices. In our main theoretical result we show that QWI, which is a tabular implementation, converges to the real Whittle indices. We then present QWINN, an adaptation of QWI algorithm using neural networks to compute the Q -values on the faster time-scale, which is able to extrapolate information from one state to another and scales naturally to large state-space environments. For QWINN, we show that all local minima of the Bellman error are locally stable equilibria, which is the first result of its kind for DQN-based schemes. Numerical computations show that QWI and QWINN converge faster than the standard Q -learning algorithm, neural-network based approximate Q-learning and other state of the art algorithms.
An agent-based model of modal choice with perception biases and habits
Venue: arXiv cs.CY 2024
Year: 2024

This paper presents an agent-based model of mobility choice, influenced by human factors such as habits and perception biases. It is implemented in a Netlogo simulator, calibrated from results of an online survey about perceptions of mobility. The simulator can be played online. It allows to modify urban infrastructure and observe modal report.
Assessing the Performance of Chinese Open Source Large Language Models in Information Extraction Tasks
Venue: arXiv cs.CL 2024
Year: 2024

Information Extraction (IE) plays a crucial role in Natural Language Processing (NLP) by extracting structured information from unstructured text, thereby facilitating seamless integration with various real-world applications that rely on structured data. Despite its significance, recent experiments focusing on English IE tasks have shed light on the challenges faced by Large Language Models (LLMs) in achieving optimal performance, particularly in sub-tasks like Named Entity Recognition (NER). In this paper, we delve into a comprehensive investigation of the performance of mainstream Chinese open-source LLMs in tackling IE tasks, specifically under zero-shot conditions where the models are not fine-tuned for specific tasks. Additionally, we present the outcomes of several few-shot experiments to further gauge the capability of these models. Moreover, our study includes a comparative analysis between these open-source LLMs and ChatGPT, a widely recognized language model, on IE performance. Through meticulous experimentation and analysis, we aim to provide insights into the strengths, limitations, and potential enhancements of existing Chinese open-source LLMs in the domain of Information Extraction within the context of NLP.
Diver: Large Language Model Decoding with Span-Level Mutual Information Verification
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) have shown impressive capabilities in adapting to various tasks when provided with task-specific instructions. However, LLMs using standard decoding strategies often struggle with deviations from the inputs. Intuitively, compliant LLM outputs should reflect the information present in the input, which can be measured by point-wise mutual information (PMI) scores. Therefore, we propose Diver, a novel approach that enhances LLM Decoding through span-level PMI verification. During inference, Diver first identifies divergence steps that may lead to multiple candidate spans. Subsequently, it calculates the PMI scores by assessing the log-likelihood gains of the input if the candidate spans are generated. Finally, the optimal span is selected based on the PMI re-ranked output distributions. We evaluate our method across various downstream tasks, and empirical results demonstrate that Diver significantly outperforms existing decoding methods in both performance and versatility.
Analyzing the Effect of Combined Degradations on Face Recognition
Venue: arXiv cs.CV 2024
Year: 2024

A face recognition model is typically trained on large datasets of images that may be collected from controlled environments. This results in performance discrepancies when applied to real-world scenarios due to the domain gap between clean and in-the-wild images. Therefore, some researchers have investigated the robustness of these models by analyzing synthetic degradations. Yet, existing studies have mostly focused on single degradation factors, which may not fully capture the complexity of real-world degradations. This work addresses this problem by analyzing the impact of both single and combined degradations using a real-world degradation pipeline extended with under/over-exposure conditions. We use the LFW dataset for our experiments and assess the model's performance based on verification accuracy. Results reveal that single and combined degradations show dissimilar model behavior. The combined effect of degradation significantly lowers performance even if its single effect is negligible. This work emphasizes the importance of accounting for real-world complexity to assess the robustness of face recognition models in real-world settings. The code is publicly available at https://github.com/ThEnded32/AnalyzingCombinedDegradations.
An Observability-Constrained Magnetic Field-Aided Inertial Navigation System -- Extended Version
Venue: arXiv cs.RO 2024
Year: 2024

Maintaining consistent uncertainty estimates in localization systems is crucial as the perceived uncertainty commonly affects high-level system components, such as control or decision processes. A method for constructing an observability-constrained magnetic field-aided inertial navigation system is proposed to address the issue of erroneous yaw observability, which leads to inconsistent estimates of yaw uncertainty. The proposed method builds upon the previously proposed observability-constrained extended Kalman filter and extends it to work with a magnetic field-based odometry-aided inertial navigation system. The proposed method is evaluated using simulation and real-world data, showing that (i) the system observability properties are preserved, (ii) the estimation accuracy increases, and (iii) the perceived uncertainty calculated by the EKF is more consistent with the true uncertainty of the filter estimates.
MIMO Capacity Maximization with Beyond-Diagonal RIS
Venue: arXiv cs.IT 2024
Year: 2024

This paper addresses the problem of maximizing the capacity of a multiple-input multiple-output (MIMO) link assisted by a beyond-diagonal reconfigurable intelligent surface (BD-RIS). We maximize the capacity by alternately optimizing the transmit covariance matrix, and the BD-RIS scattering matrix, which, according to network theory, should be unitary and symmetric. These constraints make the optimization of BD-RIS more challenging than that of diagonal RIS. To find a stationary point of the capacity we maximize a sequence of quadratic problems in the manifold of unitary matrices. This leads to an efficient algorithm that always improves the capacity obtained by a diagonal RIS. Through simulation examples, we study the capacity improvement provided by a passive BD-RIS architecture over the conventional RIS model in which the phase shift matrix is diagonal.
A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots
Venue: arXiv cs.RO 2024
Year: 2024

This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local control (attached) and teleoperation (detached). These modes are integrated with a robot whole-body controller and presented in a unified close- and far-proximity control framework for MCR. The earlier introduction of the haptic component in this interface enabled users to execute intricate loco-manipulation tasks via admittance-type control, effectively decoupling task dynamics and enhancing human capabilities. In contrast, this ongoing work proposes a novel design that integrates a visual component. This design utilizes Visual-Inertial Odometry (VIO) for teleoperation, estimating the interface's pose through stereo cameras and an Inertial Measurement Unit (IMU). The estimated pose serves as the reference for the robot's end-effector in teleoperation mode. Hence, the interface offers complete flexibility and adaptability, enabling any user to operate an MCR seamlessly without needing expert knowledge. In this letter, we primarily focus on the new visual feature, and first present a performance evaluation of different VIO-based methods for teleoperation. Next, the interface's usability is analyzed in a home-care application and compared to an alternative designed by a commercial MoCap system. Results show comparable performance in terms of accuracy, completion time, and usability. Nevertheless, the proposed interface is low-cost, poses minimal wearability constraints, and can be used anywhere and anytime without needing external devices or additional equipment, offering a versatile and accessible solution for teleoperation.
An Open and Reconfigurable User Interface to Manage Complex ROS-based Robotic Systems
Venue: arXiv cs.RO 2024
Year: 2024

The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build modular and large robotic applications. However, ROS presents a steep learning curve and lacks the intuitive usability of vendor-specific robotic Graphical User Interfaces (GUIs). Moreover, its modular and distributed nature complicates the control and monitoring of extensive systems, even for advanced users. To address these challenges, this paper proposes a highly adaptable and reconfigurable web-based GUI for intuitively controlling, monitoring, and configuring complex ROS-based robotic systems. The GUI leverages ROSBridge and roslibjs to ensure seamless communication with ROS systems via topics and services. Designed as a versatile platform, the GUI allows for the selective incorporation of modular features to accommodate diverse robotic systems and applications. An initial set of commonly used features in robotic applications is presented. To demonstrate its reconfigurability, the GUI was customized and tested for four industrial use cases, receiving positive feedback. The project's repository has been made publicly available to support the robotics community and lower the entry barrier for ROS in industrial applications.
Generative Pre-Trained Diffusion Paradigm for Zero-Shot Time Series Forecasting
Venue: arXiv cs.CE 2024
Year: 2024

In recent years, generative pre-trained paradigms such as Large Language Models (LLMs) and Large Vision Models (LVMs) have achieved revolutionary advancements and widespread real-world applications. Particularly, the emergence of pre-trained LLMs-based temporal works, compared to previous deep model approaches, has demonstrated superior generalization and robustness, showcasing the potential of generative pre-trained paradigms as foundation models for time series. However, those LLMs-based works mainly focus on cross-modal research, i.e., leveraging the language capabilities of LLMs in time series contexts. Although they have achieved impressive performance, there still exist the issues of concept drift caused by differences in data distribution and inflexibility caused by misalignment of dimensions. To this end, inspired by recent work on LVMs, we reconsider the paradigm of time series modeling. In this paper, we comprehensively explore, for the first time, the effectiveness and superiority of the Generative Pre-trained Diffusion (GPD) paradigm in real-world multivariate time series forecasting (TSF). Specifically, to mitigate performance bias introduced by sophisticated networks, we propose a straightforward MLP diffusion network for unconditional modeling of time series. Then we employ a zero-shot and tuning-free method to predict (generate) future data using historical data as prompts. The GPD paradigm is established on the time series modality, effectively preventing the phenomenon of concept drift, and enabling flexible forecasting of arbitrary lengths. We demonstrate that the GPD paradigm achieves comprehensive performance and generalization comparable to current SOTA LLM-based and deep model paradigms on mainstream benchmarks and various TSF tasks. Extensive experiments validate the potential of the GPD paradigm and its assistance in future related research.
FedMKT: Federated Mutual Knowledge Transfer for Large and Small Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Recent research in federated large language models (LLMs) has primarily focused on enabling clients to fine-tune their locally deployed homogeneous LLMs collaboratively or on transferring knowledge from server-based LLMs to small language models (SLMs) at downstream clients. However, a significant gap remains in the simultaneous mutual enhancement of both the server's LLM and clients' SLMs. To bridge this gap, we propose FedMKT, a parameter-efficient federated mutual knowledge transfer framework for large and small language models. This framework is designed to adaptively transfer knowledge from the server's LLM to clients' SLMs while concurrently enriching the LLM with clients' unique domain insights. We facilitate token alignment using minimum edit distance (MinED) and then selective mutual knowledge transfer between client-side SLMs and a server-side LLM, aiming to collectively enhance their performance. Through extensive experiments across three distinct scenarios, we evaluate the effectiveness of FedMKT using various public LLMs and SLMs on a range of NLP text generation tasks. Empirical results demonstrate that FedMKT simultaneously boosts the performance of both LLMs and SLMs.
Description Boosting for Zero-Shot Entity and Relation Classification
Venue: arXiv cs.CL 2024
Year: 2024

Zero-shot entity and relation classification models leverage available external information of unseen classes -- e.g., textual descriptions -- to annotate input text data. Thanks to the minimum data requirement, Zero-Shot Learning (ZSL) methods have high value in practice, especially in applications where labeled data is scarce. Even though recent research in ZSL has demonstrated significant results, our analysis reveals that those methods are sensitive to provided textual descriptions of entities (or relations). Even a minor modification of descriptions can lead to a change in the decision boundary between entity (or relation) classes. In this paper, we formally define the problem of identifying effective descriptions for zero shot inference. We propose a strategy for generating variations of an initial description, a heuristic for ranking them and an ensemble method capable of boosting the predictions of zero-shot models through description enhancement. Empirical results on four different entity and relation classification datasets show that our proposed method outperform existing approaches and achieve new SOTA results on these datasets under the ZSL settings. The source code of the proposed solutions and the evaluation framework are open-sourced.
PuFace: Defending against Facial Cloaking Attacks for Facial Recognition Models
Venue: arXiv cs.CV 2024
Year: 2024

The recently proposed facial cloaking attacks add invisible perturbation (cloaks) to facial images to protect users from being recognized by unauthorized facial recognition models. However, we show that the "cloaks" are not robust enough and can be removed from images. This paper introduces PuFace, an image purification system leveraging the generalization ability of neural networks to diminish the impact of cloaks by pushing the cloaked images towards the manifold of natural (uncloaked) images before the training process of facial recognition models. Specifically, we devise a purifier that takes all the training images including both cloaked and natural images as input and generates the purified facial images close to the manifold where natural images lie. To meet the defense goal, we propose to train the purifier on particularly amplified cloaked images with a loss function that combines image loss and feature loss. Our empirical experiment shows PuFace can effectively defend against two state-of-the-art facial cloaking attacks and reduces the attack success rate from 69.84\% to 7.61\% on average without degrading the normal accuracy for various facial recognition models. Moreover, PuFace is a model-agnostic defense mechanism that can be applied to any facial recognition model without modifying the model structure.
M3DM-NR: RGB-3D Noisy-Resistant Industrial Anomaly Detection via Multimodal Denoising
Venue: arXiv cs.CV 2024
Year: 2024

Existing industrial anomaly detection methods primarily concentrate on unsupervised learning with pristine RGB images. Yet, both RGB and 3D data are crucial for anomaly detection, and the datasets are seldom completely clean in practical scenarios. To address above challenges, this paper initially delves into the RGB-3D multi-modal noisy anomaly detection, proposing a novel noise-resistant M3DM-NR framework to leveraging strong multi-modal discriminative capabilities of CLIP. M3DM-NR consists of three stages: Stage-I introduces the Suspected References Selection module to filter a few normal samples from the training dataset, using the multimodal features extracted by the Initial Feature Extraction, and a Suspected Anomaly Map Computation module to generate a suspected anomaly map to focus on abnormal regions as reference. Stage-II uses the suspected anomaly maps of the reference samples as reference, and inputs image, point cloud, and text information to achieve denoising of the training samples through intra-modal comparison and multi-scale aggregation operations. Finally, Stage-III proposes the Point Feature Alignment, Unsupervised Feature Fusion, Noise Discriminative Coreset Selection, and Decision Layer Fusion modules to learn the pattern of the training dataset, enabling anomaly detection and segmentation while filtering out noise. Extensive experiments show that M3DM-NR outperforms state-of-the-art methods in 3D-RGB multi-modal noisy anomaly detection.