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Biomedical entity linking (BEL) is the task of grounding entity mentions to a knowledge base. It plays a vital role in information extraction pipelines for the life sciences literature. We review recent work in the field and find that, as the task is absent from existing benchmarks for biomedical text mining, different studies adopt different experimental setups making comparisons based on published numbers problematic. Furthermore, neural systems are tested primarily on instances linked to the broad coverage knowledge base UMLS, leaving their performance to more specialized ones, e.g. genes or variants, understudied. We therefore developed BELB, a Biomedical Entity Linking Benchmark, providing access in a unified format to 11 corpora linked to 7 knowledge bases and spanning six entity types: gene, disease, chemical, species, cell line and variant. BELB greatly reduces preprocessing overhead in testing BEL systems on multiple corpora offering a standardized testbed for reproducible experiments. Using BELB we perform an extensive evaluation of six rule-based entity-specific systems and three recent neural approaches leveraging pre-trained language models. Our results reveal a mixed picture showing that neural approaches fail to perform consistently across entity types, highlighting the need of further studies towards entity-agnostic models.

Federated Learning (FL) is a promising approach enabling multiple clients to train Deep Neural Networks (DNNs) collaboratively without sharing their local training data. However, FL is susceptible to backdoor (or targeted poisoning) attacks. These attacks are initiated by malicious clients who seek to compromise the learning process by introducing specific behaviors into the learned model that can be triggered by carefully crafted inputs. Existing FL safeguards have various limitations: They are restricted to specific data distributions or reduce the global model accuracy due to excluding benign models or adding noise, are vulnerable to adaptive defense-aware adversaries, or require the server to access local models, allowing data inference attacks. This paper presents a novel defense mechanism, CrowdGuard, that effectively mitigates backdoor attacks in FL and overcomes the deficiencies of existing techniques. It leverages clients' feedback on individual models, analyzes the behavior of neurons in hidden layers, and eliminates poisoned models through an iterative pruning scheme. CrowdGuard employs a server-located stacked clustering scheme to enhance its resilience to rogue client feedback. The evaluation results demonstrate that CrowdGuard achieves a 100% True-Positive-Rate and True-Negative-Rate across various scenarios, including IID and non-IID data distributions. Additionally, CrowdGuard withstands adaptive adversaries while preserving the original performance of protected models. To ensure confidentiality, CrowdGuard uses a secure and privacy-preserving architecture leveraging Trusted Execution Environments (TEEs) on both client and server sides.

Information bottleneck (IB) is a paradigm to extract information in one target random variable from another relevant random variable, which has aroused great interest due to its potential to explain deep neural networks in terms of information compression and prediction. Despite its great importance, finding the optimal bottleneck variable involves a difficult nonconvex optimization problem due to the nonconvexity of mutual information constraint. The Blahut-Arimoto algorithm and its variants provide an approach by considering its Lagrangian with fixed Lagrange multiplier. However, only the strictly concave IB curve can be fully obtained by the BA algorithm, which strongly limits its application in machine learning and related fields, as strict concavity cannot be guaranteed in those problems. To overcome the above difficulty, we derive an entropy regularized optimal transport (OT) model for IB problem from a posterior probability perspective. Correspondingly, we use the alternating optimization procedure and generalize the Sinkhorn algorithm to solve the above OT model. The effectiveness and efficiency of our approach are demonstrated via numerical experiments.

Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a fixed noise covariance for the inertial uncertainty. However, accurately determining in real-time the noise variance of the inertial sensors presents a significant challenge as the uncertainty changes throughout the operation leading to suboptimal performance and reduced accuracy. To circumvent this, we propose VIO-DualProNet, a novel approach that utilizes deep learning methods to dynamically estimate the inertial noise uncertainty in real-time. By designing and training a deep neural network to predict inertial noise uncertainty using only inertial sensor measurements, and integrating it into the VINS-Mono algorithm, we demonstrate a substantial improvement in accuracy and robustness, enhancing VIO performance and potentially benefiting other VIO-based systems for precise localization and mapping across diverse conditions.

The integration of a complex set of Electronic Design Automation (EDA) tools to enhance interoperability is a critical concern for circuit designers. Recent advancements in large language models (LLMs) have showcased their exceptional capabilities in natural language processing and comprehension, offering a novel approach to interfacing with EDA tools. This research paper introduces ChatEDA, an autonomous agent for EDA empowered by a large language model, AutoMage, complemented by EDA tools serving as executors. ChatEDA streamlines the design flow from the Register-Transfer Level (RTL) to the Graphic Data System Version II (GDSII) by effectively managing task planning, script generation, and task execution. Through comprehensive experimental evaluations, ChatEDA has demonstrated its proficiency in handling diverse requirements, and our fine-tuned AutoMage model has exhibited superior performance compared to GPT-4 and other similar LLMs.

Lane detection plays a pivotal role in the field of autonomous vehicles and advanced driving assistant systems (ADAS). Despite advances from image processing to deep learning based models, algorithm performance is highly dependent on training data matching the local challenges such as extreme lighting conditions, partially visible lane markings, and sparse lane markings like Botts' dots. To address this, we present an end-to-end lane detection and classification system based on deep learning methodologies. In our study, we introduce a unique dataset meticulously curated to encompass scenarios that pose significant challenges for state-of-the-art (SOTA) lane localization models. Moreover, we propose a CNN-based classification branch, seamlessly integrated with the detector, facilitating the identification of distinct lane types. This architecture enables informed lane-changing decisions and empowers more resilient ADAS capabilities. We also investigate the effect of using mixed precision training and testing on different models and batch sizes. Experimental evaluations conducted on the widely-used TuSimple dataset, Caltech Lane dataset, and our LVLane dataset demonstrate the effectiveness of our model in accurately detecting and classifying lanes amidst challenging scenarios. Our method achieves state-of-the-art classification results on the TuSimple dataset. The code of the work can be found on www.github.com/zillur-av/LVLane.

Role-playing chatbots built on large language models have drawn interest, but better techniques are needed to enable mimicking specific fictional characters. We propose an algorithm that controls language models via an improved prompt and memories of the character extracted from scripts. We construct ChatHaruhi, a dataset covering 32 Chinese / English TV / anime characters with over 54k simulated dialogues. Both automatic and human evaluations show our approach improves role-playing ability over baselines. Code and data are available at //github.com/LC1332/Chat-Haruhi-Suzumiya .

Safety is the primary priority of autonomous driving. Nevertheless, no published dataset currently supports the direct and explainable safety evaluation for autonomous driving. In this work, we propose DeepAccident, a large-scale dataset generated via a realistic simulator containing diverse accident scenarios that frequently occur in real-world driving. The proposed DeepAccident dataset includes 57K annotated frames and 285K annotated samples, approximately 7 times more than the large-scale nuScenes dataset with 40k annotated samples. In addition, we propose a new task, end-to-end motion and accident prediction, which can be used to directly evaluate the accident prediction ability for different autonomous driving algorithms. Furthermore, for each scenario, we set four vehicles along with one infrastructure to record data, thus providing diverse viewpoints for accident scenarios and enabling V2X (vehicle-to-everything) research on perception and prediction tasks. Finally, we present a baseline V2X model named V2XFormer that demonstrates superior performance for motion and accident prediction and 3D object detection compared to the single-vehicle model.

Robotic grasping is a fundamental skill required for object manipulation in robotics. Multi-fingered robotic hands, which mimic the structure of the human hand, can potentially perform complex object manipulation. Nevertheless, current techniques for multi-fingered robotic grasping frequently predict only a single grasp for each inference time, limiting computational efficiency and their versatility, i.e. unimodal grasp distribution. This paper proposes a differentiable multi-fingered grasp generation network (DMFC-GraspNet) with three main contributions to address this challenge. Firstly, a novel neural grasp planner is proposed, which predicts a new grasp representation to enable versatile and dense grasp predictions. Secondly, a scene creation and label mapping method is developed for dense labeling of multi-fingered robotic hands, which allows a dense association of ground truth grasps. Thirdly, we propose to train DMFC-GraspNet end-to-end using using a forward-backward automatic differentiation approach with both a supervised loss and a differentiable collision loss and a generalized Q 1 grasp metric loss. The proposed approach is evaluated using the Shadow Dexterous Hand on Mujoco simulation and ablated by different choices of loss functions. The results demonstrate the effectiveness of the proposed approach in predicting versatile and dense grasps, and in advancing the field of multi-fingered robotic grasping.

Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.