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Anomaly detection is critical in surveillance systems and patrol robots by identifying anomalous regions in images for early warning. Depending on whether reference data are utilized, anomaly detection can be categorized into anomaly detection with reference and anomaly detection without reference. Currently, anomaly detection without reference, which is closely related to out-of-distribution (OoD) object detection, struggles with learning anomalous patterns due to the difficulty of collecting sufficiently large and diverse anomaly datasets with the inherent rarity and novelty of anomalies. Alternatively, anomaly detection with reference employs the scheme of change detection to identify anomalies by comparing semantic changes between a reference image and a query one. However, there are very few ADr works due to the scarcity of public datasets in this domain. In this paper, we aim to address this gap by introducing the UMAD Benchmark Dataset. To our best knowledge, this is the first benchmark dataset designed specifically for anomaly detection with reference in robotic patrolling scenarios, e.g., where an autonomous robot is employed to detect anomalous objects by comparing a reference and a query video sequences. The reference sequences can be taken by the robot along a specified route when there are no anomalous objects in the scene. The query sequences are captured online by the robot when it is patrolling in the same scene following the same route. Our benchmark dataset is elaborated such that each query image can find a corresponding reference based on accurate robot localization along the same route in the prebuilt 3D map, with which the reference and query images can be geometrically aligned using adaptive warping. Besides the proposed benchmark dataset, we evaluate the baseline models of ADr on this dataset., Comment: Accepted by the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024, project code at https://github.com/IMRL/UMAD

Mixture of Experts (MoE) offers remarkable performance and computational efficiency by selectively activating subsets of model parameters. Traditionally, MoE models use homogeneous experts, each with identical capacity. However, varying complexity in input data necessitates experts with diverse capabilities, while homogeneous MoE hinders effective expert specialization and efficient parameter utilization. In this study, we propose a novel Heterogeneous Mixture of Experts (HMoE), where experts differ in size and thus possess diverse capacities. This heterogeneity allows for more specialized experts to handle varying token complexities more effectively. To address the imbalance in expert activation, we propose a novel training objective that encourages the frequent activation of smaller experts, enhancing computational efficiency and parameter utilization. Extensive experiments demonstrate that HMoE achieves lower loss with fewer activated parameters and outperforms conventional homogeneous MoE models on various pre-training evaluation benchmarks. Codes will be released upon acceptance.

In this paper, we propose SmartFreeze, a framework that effectively reduces the memory footprint by conducting the training in a progressive manner. Instead of updating the full model in each training round, SmartFreeze divides the shared model into blocks consisting of a specified number of layers. It first trains the front block with a well-designed output module, safely freezes it after convergence, and then triggers the training of the next one. This process iterates until the whole model has been successfully trained. In this way, the backward computation of the frozen blocks and the corresponding memory space for storing the intermediate outputs and gradients are effectively saved. Except for the progressive training framework, SmartFreeze consists of the following two core components: a pace controller and a participant selector. The pace controller is designed to effectively monitor the training progress of each block at runtime and safely freezes them after convergence while the participant selector selects the right devices to participate in the training for each block by jointly considering the memory capacity, the statistical and system heterogeneity. Extensive experiments are conducted to evaluate the effectiveness of SmartFreeze on both simulation and hardware testbeds. The results demonstrate that SmartFreeze effectively reduces average memory usage by up to 82%. Moreover, it simultaneously improves the model accuracy by up to 83.1% and accelerates the training process up to 2.02X., Comment: Published as a conference paper at IWQoS 2024

The autonomous mapping of large-scale urban scenes presents significant challenges for autonomous robots. To mitigate the challenges, global planning, such as utilizing prior GPS trajectories from OpenStreetMap (OSM), is often used to guide the autonomous navigation of robots for mapping. However, due to factors like complex terrain, unexpected body movement, and sensor noise, the uncertainty of the robot's pose estimates inevitably increases over time, ultimately leading to the failure of robotic mapping. To address this issue, we propose a novel active loop closure procedure, enabling the robot to actively re-plan the previously planned GPS trajectory. The method can guide the robot to re-visit the previous places where the loop-closure detection can be performed to trigger the back-end optimization, effectively reducing errors and uncertainties in pose estimation. The proposed active loop closure mechanism is implemented and embedded into a real-time OSM-guided robot mapping framework. Empirical results on several large-scale outdoor scenarios demonstrate its effectiveness and promising performance.

Instruction-following is particularly crucial for large language models (LLMs) to support diverse user requests. While existing work has made progress in aligning LLMs with human preferences, evaluating their capabilities on instruction following remains a challenge due to complexity and diversity of real-world user instructions. While existing evaluation methods focus on general skills, they suffer from two main shortcomings, i.e., lack of fine-grained task-level evaluation and reliance on singular instruction expression. To address these problems, this paper introduces DINGO, a fine-grained and diverse instruction-following evaluation dataset that has two main advantages: (1) DINGO is based on a manual annotated, fine-grained and multi-level category tree with 130 nodes derived from real-world user requests; (2) DINGO includes diverse instructions, generated by both GPT-4 and human experts. Through extensive experiments, we demonstrate that DINGO can not only provide more challenging and comprehensive evaluation for LLMs, but also provide task-level fine-grained directions to further improve LLMs.

In this article, we present a stabilization feedback law with integral action for conservative abstract linear systems subjected to actuator nonlinearity. Based on the designed control law, we first prove the well-posedness and global asymptotic stability of the origin of the closed-loop system by constructing a weak Lyapunov functional. Secondly, as an illustration, we apply the results to a wave equation coupled with an ordinary differential equation (ODE) at the boundary. Finally, we give the simulation results to illustrate the effectiveness of our method.

In the field of autonomous driving, two important features of autonomous driving car systems are the explainability of decision logic and the accuracy of environmental perception. This paper introduces DME-Driver, a new autonomous driving system that enhances the performance and reliability of autonomous driving system. DME-Driver utilizes a powerful vision language model as the decision-maker and a planning-oriented perception model as the control signal generator. To ensure explainable and reliable driving decisions, the logical decision-maker is constructed based on a large vision language model. This model follows the logic employed by experienced human drivers and makes decisions in a similar manner. On the other hand, the generation of accurate control signals relies on precise and detailed environmental perception, which is where 3D scene perception models excel. Therefore, a planning oriented perception model is employed as the signal generator. It translates the logical decisions made by the decision-maker into accurate control signals for the self-driving cars. To effectively train the proposed model, a new dataset for autonomous driving was created. This dataset encompasses a diverse range of human driver behaviors and their underlying motivations. By leveraging this dataset, our model achieves high-precision planning accuracy through a logical thinking process.

Despite the great success of large language models (LLMs) in various tasks, they suffer from generating hallucinations. We introduce Truth Forest, a method that enhances truthfulness in LLMs by uncovering hidden truth representations using multi-dimensional orthogonal probes. Specifically, it creates multiple orthogonal bases for modeling truth by incorporating orthogonal constraints into the probes. Moreover, we introduce Random Peek, a systematic technique considering an extended range of positions within the sequence, reducing the gap between discerning and generating truth features in LLMs. By employing this approach, we improved the truthfulness of Llama-2-7B from 40.8\% to 74.5\% on TruthfulQA. Likewise, significant improvements are observed in fine-tuned models. We conducted a thorough analysis of truth features using probes. Our visualization results show that orthogonal probes capture complementary truth-related features, forming well-defined clusters that reveal the inherent structure of the dataset., Comment: Accepted as AAAI 2024

Vehicle-to-Everything (V2X) collaborative perception has recently gained significant attention due to its capability to enhance scene understanding by integrating information from various agents, e.g., vehicles, and infrastructure. However, current works often treat the information from each agent equally, ignoring the inherent domain gap caused by the utilization of different LiDAR sensors of each agent, thus leading to suboptimal performance. In this paper, we propose DI-V2X, that aims to learn Domain-Invariant representations through a new distillation framework to mitigate the domain discrepancy in the context of V2X 3D object detection. DI-V2X comprises three essential components: a domain-mixing instance augmentation (DMA) module, a progressive domain-invariant distillation (PDD) module, and a domain-adaptive fusion (DAF) module. Specifically, DMA builds a domain-mixing 3D instance bank for the teacher and student models during training, resulting in aligned data representation. Next, PDD encourages the student models from different domains to gradually learn a domain-invariant feature representation towards the teacher, where the overlapping regions between agents are employed as guidance to facilitate the distillation process. Furthermore, DAF closes the domain gap between the students by incorporating calibration-aware domain-adaptive attention. Extensive experiments on the challenging DAIR-V2X and V2XSet benchmark datasets demonstrate DI-V2X achieves remarkable performance, outperforming all the previous V2X models. Code is available at https://github.com/Serenos/DI-V2X, Comment: aaai2024

The efficacy of availability poisoning, a method of poisoning data by injecting imperceptible perturbations to prevent its use in model training, has been a hot subject of investigation. Previous research suggested that it was difficult to effectively counteract such poisoning attacks. However, the introduction of various defense methods has challenged this notion. Due to the rapid progress in this field, the performance of different novel methods cannot be accurately validated due to variations in experimental setups. To further evaluate the attack and defense capabilities of these poisoning methods, we have developed a benchmark -- APBench for assessing the efficacy of adversarial poisoning. APBench consists of 9 state-of-the-art availability poisoning attacks, 8 defense algorithms, and 4 conventional data augmentation techniques. We also have set up experiments with varying different poisoning ratios, and evaluated the attacks on multiple datasets and their transferability across model architectures. We further conducted a comprehensive evaluation of 2 additional attacks specifically targeting unsupervised models. Our results reveal the glaring inadequacy of existing attacks in safeguarding individual privacy. APBench is open source and available to the deep learning community: https://github.com/lafeat/apbench.

Kin selection and direct reciprocity are two most basic mechanisms for promoting cooperation in human society. Generalizing the standard models of the multi-player Prisoner's Dilemma and the Public Goods games for heterogeneous populations, we study the effects of genetic relatedness on cooperation in the context of repeated interactions. Two sets of interrelated results are established: a set of analytical results focusing on the subgame perfect equilibrium and a set of agent-based simulation results based on an evolutionary game model. We show that in both cases increasing genetic relatedness does not always facilitate cooperation. Specifically, kinship can hinder the effectiveness of reciprocity in two ways. First, the condition for sustaining cooperation through direct reciprocity is harder to satisfy when relatedness increases in an intermediate range. Second, full cooperation is impossible to sustain for a medium-high range of relatedness values. Moreover, individuals with low cost-benefit ratios can end up with lower payoffs than their groupmates with high cost-benefit ratios. Our results point to the importance of explicitly accounting for within-population heterogeneity when studying the evolution of cooperation.

Vision Transformer (ViT) has performed remarkably in various computer vision tasks. Nonetheless, affected by the massive amount of parameters, ViT usually suffers from serious overfitting problems with a relatively limited number of training samples. In addition, ViT generally demands heavy computing resources, which limit its deployment on resource-constrained devices. As a type of model-compression method, model binarization is potentially a good choice to solve the above problems. Compared with the full-precision one, the model with the binarization method replaces complex tensor multiplication with simple bit-wise binary operations and represents full-precision model parameters and activations with only 1-bit ones, which potentially solves the problem of model size and computational complexity, respectively. In this paper, we investigate a binarized ViT model. Empirically, we observe that the existing binarization technology designed for Convolutional Neural Networks (CNN) cannot migrate well to a ViT's binarization task. We also find that the decline of the accuracy of the binary ViT model is mainly due to the information loss of the Attention module and the Value vector. Therefore, we propose a novel model binarization technique, called Group Superposition Binarization (GSB), to deal with these issues. Furthermore, in order to further improve the performance of the binarization model, we have investigated the gradient calculation procedure in the binarization process and derived more proper gradient calculation equations for GSB to reduce the influence of gradient mismatch. Then, the knowledge distillation technique is introduced to alleviate the performance degradation caused by model binarization. Analytically, model binarization can limit the parameters search space during parameter updates while training a model...., Comment: Accepted by Neural Networks

Unlearnable example attacks are data poisoning techniques that can be used to safeguard public data against unauthorized use for training deep learning models. These methods add stealthy perturbations to the original image, thereby making it difficult for deep learning models to learn from these training data effectively. Current research suggests that adversarial training can, to a certain degree, mitigate the impact of unlearnable example attacks, while common data augmentation methods are not effective against such poisons. Adversarial training, however, demands considerable computational resources and can result in non-trivial accuracy loss. In this paper, we introduce the UEraser method, which outperforms current defenses against different types of state-of-the-art unlearnable example attacks through a combination of effective data augmentation policies and loss-maximizing adversarial augmentations. In stark contrast to the current SOTA adversarial training methods, UEraser uses adversarial augmentations, which extends beyond the confines of $ \ell_p $ perturbation budget assumed by current unlearning attacks and defenses. It also helps to improve the model's generalization ability, thus protecting against accuracy loss. UEraser wipes out the unlearning effect with error-maximizing data augmentations, thus restoring trained model accuracies. Interestingly, UEraser-Lite, a fast variant without adversarial augmentations, is also highly effective in preserving clean accuracies. On challenging unlearnable CIFAR-10, CIFAR-100, SVHN, and ImageNet-subset datasets produced with various attacks, it achieves results that are comparable to those obtained during clean training. We also demonstrate its efficacy against possible adaptive attacks. Our code is open source and available to the deep learning community: https://github.com/lafeat/ueraser., Comment: UEraser introduces adversarial augmentations to suppress unlearnable example attacks and outperforms current defenses

Monocular 3D object detection has become a mainstream approach in automatic driving for its easy application. A prominent advantage is that it does not need LiDAR point clouds during the inference. However, most current methods still rely on 3D point cloud data for labeling the ground truths used in the training phase. This inconsistency between the training and inference makes it hard to utilize the large-scale feedback data and increases the data collection expenses. To bridge this gap, we propose a new weakly supervised monocular 3D objection detection method, which can train the model with only 2D labels marked on images. To be specific, we explore three types of consistency in this task, i.e. the projection, multi-view and direction consistency, and design a weakly-supervised architecture based on these consistencies. Moreover, we propose a new 2D direction labeling method in this task to guide the model for accurate rotation direction prediction. Experiments show that our weakly-supervised method achieves comparable performance with some fully supervised methods. When used as a pre-training method, our model can significantly outperform the corresponding fully-supervised baseline with only 1/3 3D labels. https://github.com/weakmono3d/weakmono3d, Comment: CVPR 2023

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face domain generalization issues. Unlike 2D images whose domains usually pertain to the texture information present in them, the features derived from a 3D point cloud are affected by the distribution of the points. The lack of a 3D domain adaptation benchmark leads to the common practice of training a model on one benchmark (e.g. Waymo) and then assessing it on another dataset (e.g. KITTI). This setting results in two distinct domain gaps: scenarios and sensors, making it difficult to analyze and evaluate the method accurately. To tackle this problem, this paper presents LiDAR Dataset with Cross Sensors (LiDAR-CS Dataset), which contains large-scale annotated LiDAR point cloud under six groups of different sensors but with the same corresponding scenarios, captured from hybrid realistic LiDAR simulator. To our knowledge, LiDAR-CS Dataset is the first dataset that addresses the sensor-related gaps in the domain of 3D object detection in real traffic. Furthermore, we evaluate and analyze the performance using various baseline detectors and demonstrated its potential applications. Project page: https://opendriving.github.io/lidar-cs., Comment: 8 pages

Open software supply chain attacks, once successful, can exact heavy costs in mission-critical applications. As open-source ecosystems for deep learning flourish and become increasingly universal, they present attackers previously unexplored avenues to code-inject malicious backdoors in deep neural network models. This paper proposes Flareon, a small, stealthy, seemingly harmless code modification that specifically targets the data augmentation pipeline with motion-based triggers. Flareon neither alters ground-truth labels, nor modifies the training loss objective, nor does it assume prior knowledge of the victim model architecture, training data, and training hyperparameters. Yet, it has a surprisingly large ramification on training -- models trained under Flareon learn powerful target-conditional (or "any2any") backdoors. The resulting models can exhibit high attack success rates for any target choices and better clean accuracies than backdoor attacks that not only seize greater control, but also assume more restrictive attack capabilities. We also demonstrate the effectiveness of Flareon against recent defenses. Flareon is fully open-source and available online to the deep learning community: https://github.com/lafeat/flareon.

Adversarial attacks can deceive neural networks by adding tiny perturbations to their input data. Ensemble defenses, which are trained to minimize attack transferability among sub-models, offer a promising research direction to improve robustness against such attacks while maintaining a high accuracy on natural inputs. We discover, however, that recent state-of-the-art (SOTA) adversarial attack strategies cannot reliably evaluate ensemble defenses, sizeably overestimating their robustness. This paper identifies the two factors that contribute to this behavior. First, these defenses form ensembles that are notably difficult for existing gradient-based method to attack, due to gradient obfuscation. Second, ensemble defenses diversify sub-model gradients, presenting a challenge to defeat all sub-models simultaneously, simply summing their contributions may counteract the overall attack objective; yet, we observe that ensemble may still be fooled despite most sub-models being correct. We therefore introduce MORA, a model-reweighing attack to steer adversarial example synthesis by reweighing the importance of sub-model gradients. MORA finds that recent ensemble defenses all exhibit varying degrees of overestimated robustness. Comparing it against recent SOTA white-box attacks, it can converge orders of magnitude faster while achieving higher attack success rates across all ensemble models examined with three different ensemble modes (i.e., ensembling by either softmax, voting or logits). In particular, most ensemble defenses exhibit near or exactly 0% robustness against MORA with $\ell^\infty$ perturbation within 0.02 on CIFAR-10, and 0.01 on CIFAR-100. We make MORA open source with reproducible results and pre-trained models; and provide a leaderboard of ensemble defenses under various attack strategies., Comment: To appear in NeurIPS 2022. Project repository: https://github.com/lafeat/mora