With the rapid evolution of the Internet of Things, many real-world applications utilize heterogeneously connected sensors to capture time-series information. Edge-based machine learning (ML) methodologies are often employed to analyze locally collected data. However, a fundamental issue across data-driven ML approaches is distribution shift. It occurs when a model is deployed on a data distribution different from what it was trained on, and can substantially degrade model performance. Additionally, increasingly sophisticated deep neural networks (DNNs) have been proposed to capture spatial and temporal dependencies in multi-sensor time series data, requiring intensive computational resources beyond the capacity of today's edge devices. While brain-inspired hyperdimensional computing (HDC) has been introduced as a lightweight solution for edge-based learning, existing HDCs are also vulnerable to the distribution shift challenge. In this paper, we propose DOMINO, a novel HDC learning framework addressing the distribution shift problem in noisy multi-sensor time-series data. DOMINO leverages efficient and parallel matrix operations on high-dimensional space to dynamically identify and filter out domain-variant dimensions. Our evaluation on a wide range of multi-sensor time series classification tasks shows that DOMINO achieves on average 2.04% higher accuracy than state-of-the-art (SOTA) DNN-based domain generalization techniques, and delivers 16.34x faster training and 2.89x faster inference. More importantly, DOMINO performs notably better when learning from partially labeled and highly imbalanced data, providing 10.93x higher robustness against hardware noises than SOTA DNNs.
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The Automatic Speaker Verification (ASV) system is vulnerable to fraudulent activities using audio deepfakes, also known as logical-access voice spoofing attacks. These deepfakes pose a concerning threat to voice biometrics due to recent advancements in generative AI and speech synthesis technologies. While several deep learning models for speech synthesis detection have been developed, most of them show poor generalizability, especially when the attacks have different statistical distributions from the ones seen. Therefore, this paper presents Quick-SpoofNet, an approach for detecting both seen and unseen synthetic attacks in the ASV system using one-shot learning and metric learning techniques. By using the effective spectral feature set, the proposed method extracts compact and representative temporal embeddings from the voice samples and utilizes metric learning and triplet loss to assess the similarity index and distinguish different embeddings. The system effectively clusters similar speech embeddings, classifying bona fide speeches as the target class and identifying other clusters as spoofing attacks. The proposed system is evaluated using the ASVspoof 2019 logical access (LA) dataset and tested against unseen deepfake attacks from the ASVspoof 2021 dataset. Additionally, its generalization ability towards unseen bona fide speech is assessed using speech data from the VSDC dataset.
Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two commonly used modalities in visual-based robotic manipulation, but each of these modalities have their own limitations. Commercial point-cloud observations often suffer from issues like sparse sampling and noisy output due to the limits of the emission-reception imaging principle. On the other hand, RGB images, while rich in texture information, lack essential depth and 3D information crucial for robotic manipulation. To mitigate these challenges, we propose an image-only robotic manipulation framework that leverages an eye-on-hand monocular camera installed on the robot's parallel gripper. By moving with the robot gripper, this camera gains the ability to actively perceive object from multiple perspectives during the manipulation process. This enables the estimation of 6D object poses, which can be utilized for manipulation. While, obtaining images from more and diverse viewpoints typically improves pose estimation, it also increases the manipulation time. To address this trade-off, we employ a reinforcement learning policy to synchronize the manipulation strategy with active perception, achieving a balance between 6D pose accuracy and manipulation efficiency. Our experimental results in both simulated and real-world environments showcase the state-of-the-art effectiveness of our approach. %, which, to the best of our knowledge, is the first to achieve robust real-world robotic manipulation through active pose estimation. We believe that our method will inspire further research on real-world-oriented robotic manipulation.
AI alignment is about ensuring AI systems only pursue goals and activities that are beneficial to humans. Most of the current approach to AI alignment is to learn what humans value from their behavioural data. This paper proposes a different way of looking at the notion of alignment, namely by introducing AI Alignment Dialogues: dialogues with which users and agents try to achieve and maintain alignment via interaction. We argue that alignment dialogues have a number of advantages in comparison to data-driven approaches, especially for behaviour support agents, which aim to support users in achieving their desired future behaviours rather than their current behaviours. The advantages of alignment dialogues include allowing the users to directly convey higher-level concepts to the agent, and making the agent more transparent and trustworthy. In this paper we outline the concept and high-level structure of alignment dialogues. Moreover, we conducted a qualitative focus group user study from which we developed a model that describes how alignment dialogues affect users, and created design suggestions for AI alignment dialogues. Through this we establish foundations for AI alignment dialogues and shed light on what requires further development and research.
Self-supervised monocular depth estimation has shown impressive results in static scenes. It relies on the multi-view consistency assumption for training networks, however, that is violated in dynamic object regions and occlusions. Consequently, existing methods show poor accuracy in dynamic scenes, and the estimated depth map is blurred at object boundaries because they are usually occluded in other training views. In this paper, we propose SC-DepthV3 for addressing the challenges. Specifically, we introduce an external pretrained monocular depth estimation model for generating single-image depth prior, namely pseudo-depth, based on which we propose novel losses to boost self-supervised training. As a result, our model can predict sharp and accurate depth maps, even when training from monocular videos of highly-dynamic scenes. We demonstrate the significantly superior performance of our method over previous methods on six challenging datasets, and we provide detailed ablation studies for the proposed terms. Source code and data will be released at //github.com/JiawangBian/sc_depth_pl
We present AstroCLIP, a strategy to facilitate the construction of astronomical foundation models that bridge the gap between diverse observational modalities. We demonstrate that a cross-modal contrastive learning approach between images and optical spectra of galaxies yields highly informative embeddings of both modalities. In particular, we apply our method on multi-band images and optical spectra from the Dark Energy Spectroscopic Instrument (DESI), and show that: (1) these embeddings are well-aligned between modalities and can be used for accurate cross-modal searches, and (2) these embeddings encode valuable physical information about the galaxies -- in particular redshift and stellar mass -- that can be used to achieve competitive zero- and few- shot predictions without further finetuning. Additionally, in the process of developing our approach, we also construct a novel, transformer-based model and pretraining approach for processing galaxy spectra.
Visual language reasoning requires a system to extract text or numbers from information-dense images like charts or plots and perform logical or arithmetic reasoning to arrive at an answer. To tackle this task, existing work relies on either (1) an end-to-end vision-language model trained on a large amount of data, or (2) a two-stage pipeline where a captioning model converts the image into text that is further read by another large language model to deduce the answer. However, the former approach forces the model to answer a complex question with one single step, and the latter approach is prone to inaccurate or distracting information in the converted text that can confuse the language model. In this work, we propose a dual-system for multi-step multimodal reasoning, which consists of a "System-1" step for visual information extraction and a "System-2" step for deliberate reasoning. Given an input, System-2 breaks down the question into atomic sub-steps, each guiding System-1 to extract the information required for reasoning from the image. Experiments on chart and plot datasets show that our method with a pre-trained System-2 module performs competitively compared to prior work on in- and out-of-distribution data. By fine-tuning the System-2 module (LLaMA-2 70B) on only a small amount of data on multi-step reasoning, the accuracy of our method is further improved and surpasses the best fully-supervised end-to-end approach by 5.7% and a pipeline approach with FlanPaLM (540B) by 7.5% on a challenging dataset with human-authored questions.
Task and Motion Planning (TAMP) approaches are effective at planning long-horizon autonomous robot manipulation. However, it can be difficult to apply them to domains where the environment and its dynamics are not fully known. We propose to overcome these limitations by leveraging deep generative modeling, specifically diffusion models, to learn constraints and samplers that capture these difficult-to-engineer aspects of the planning model. These learned samplers are composed and combined within a TAMP solver in order to find action parameter values jointly that satisfy the constraints along a plan. To tractably make predictions for unseen objects in the environment, we define these samplers on low-dimensional learned latent embeddings of changing object state. We evaluate our approach in an articulated object manipulation domain and show how the combination of classical TAMP, generative learning, and latent embeddings enables long-horizon constraint-based reasoning. We also apply the learned sampler in the real world. More details are available at //sites.google.com/view/dimsam-tamp
This paper presents MindTheDApp, a toolchain designed specifically for the structural analysis of Ethereum-based Decentralized Applications (DApps), with a distinct focus on a complex network-driven approach. Unlike existing tools, our toolchain combines the power of ANTLR4 and Abstract Syntax Tree (AST) traversal techniques to transform the architecture and interactions within smart contracts into a specialized bipartite graph. This enables advanced network analytics to highlight operational efficiencies within the DApp's architecture. The bipartite graph generated by the proposed tool comprises two sets of nodes: one representing smart contracts, interfaces, and libraries, and the other including functions, events, and modifiers. Edges in the graph connect functions to smart contracts they interact with, offering a granular view of interdependencies and execution flow within the DApp. This network-centric approach allows researchers and practitioners to apply complex network theory in understanding the robustness, adaptability, and intricacies of decentralized systems. Our work contributes to the enhancement of security in smart contracts by allowing the visualisation of the network, and it provides a deep understanding of the architecture and operational logic within DApps. Given the growing importance of smart contracts in the blockchain ecosystem and the emerging application of complex network theory in technology, our toolchain offers a timely contribution to both academic research and practical applications in the field of blockchain technology.
Large Language Models (LLMs) are becoming increasingly smart and autonomous, targeting real-world pragmatic missions beyond traditional NLP tasks. As a result, there has been an urgent need to evaluate LLMs as agents on challenging tasks in interactive environments. We present AgentBench, a multi-dimensional evolving benchmark that currently consists of 8 distinct environments to assess LLM-as-Agent's reasoning and decision-making abilities in a multi-turn open-ended generation setting. Our extensive test over 25 LLMs (including APIs and open-sourced models) shows that, while top commercial LLMs present a strong ability of acting as agents in complex environments, there is a significant disparity in performance between them and open-sourced competitors. It also serves as a component of an ongoing project with wider coverage and deeper consideration towards systematic LLM evaluation. Datasets, environments, and an integrated evaluation package for AgentBench are released at //github.com/THUDM/AgentBench
Many tasks in natural language processing can be viewed as multi-label classification problems. However, most of the existing models are trained with the standard cross-entropy loss function and use a fixed prediction policy (e.g., a threshold of 0.5) for all the labels, which completely ignores the complexity and dependencies among different labels. In this paper, we propose a meta-learning method to capture these complex label dependencies. More specifically, our method utilizes a meta-learner to jointly learn the training policies and prediction policies for different labels. The training policies are then used to train the classifier with the cross-entropy loss function, and the prediction policies are further implemented for prediction. Experimental results on fine-grained entity typing and text classification demonstrate that our proposed method can obtain more accurate multi-label classification results.
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