In this paper, we present DSN (Deep Serial Number), a simple yet effective watermarking algorithm designed specifically for deep neural networks (DNNs). Unlike traditional methods that incorporate identification signals into DNNs, our approach explores a novel Intellectual Property (IP) protection mechanism for DNNs, effectively thwarting adversaries from using stolen networks. Inspired by the success of serial numbers in safeguarding conventional software IP, we propose the first implementation of serial number embedding within DNNs. To achieve this, DSN is integrated into a knowledge distillation framework, in which a private teacher DNN is initially trained. Subsequently, its knowledge is distilled and imparted to a series of customized student DNNs. Each customer DNN functions correctly only upon input of a valid serial number. Experimental results across various applications demonstrate DSN's efficacy in preventing unauthorized usage without compromising the original DNN performance. The experiments further show that DSN is resistant to different categories of watermark attacks.
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This paper presents a new artificial market simulation platform, PAMS: Platform for Artificial Market Simulations. PAMS is developed as a Python-based simulator that is easily integrated with deep learning and enabling various simulation that requires easy users' modification. In this paper, we demonstrate PAMS effectiveness through a study using agents predicting future prices by deep learning.
In this paper, we propose simultaneous transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) assisted non-orthogonal multiple access (NOMA) networks. The considered STAR-RIS utilizes the mode switching (MS) protocol to serve multiple NOMA users located on both sides of the RIS surface. Based on the MS protocol, each STAR-RIS element can operate in full transmission or reflection mode. Within this perspective, we propose a novel algorithm to partition the STAR-RIS surface among the available users. This algorithm aims to determine the proper number of transmitting/reflecting elements needs to be assigned to each user in order to maximize the system sum-rate while guaranteeing the quality-of-service requirements for individual users. For the proposed system, we derive closed-form analytical expressions for the outage probability (OP) and its corresponding asymptotic behavior under different user deployments. Finally, Monte Carlo simulations are performed in order to verify the correctness of the theoretical analysis. It is shown that the proposed system outperforms the classical NOMA and orthogonal multiple access systems in terms of OP and sum-rate.
In this paper, we propose a new method called Clustering Topological PRM (CTopPRM) for finding multiple homotopically distinct paths in 3D cluttered environments. Finding such distinct paths, e.g., going around an obstacle from a different side, is useful in many applications. Among others, using multiple distinct paths is necessary for optimization-based trajectory planners where found trajectories are restricted to only a single homotopy class of a given path. Distinct paths can also be used to guide sampling-based motion planning and thus increase the effectiveness of planning in environments with narrow passages. Graph-based representation called roadmap is a common representation for path planning and also for finding multiple distinct paths. However, challenging environments with multiple narrow passages require a densely sampled roadmap to capture the connectivity of the environment. Searching such a dense roadmap for multiple paths is computationally too expensive. Therefore, the majority of existing methods construct only a sparse roadmap which, however, struggles to find all distinct paths in challenging environments. To this end, we propose the CTopPRM which creates a sparse graph by clustering an initially sampled dense roadmap. Such a reduced roadmap allows fast identification of homotopically distinct paths captured in the dense roadmap. We show, that compared to the existing methods the CTopPRM improves the probability of finding all distinct paths by almost 20% in tested environments, during same run-time. The source code of our method is released as an open-source package.
In this paper, we propose a robust 3D detector, named Cross Modal Transformer (CMT), for end-to-end 3D multi-modal detection. Without explicit view transformation, CMT takes the image and point clouds tokens as inputs and directly outputs accurate 3D bounding boxes. The spatial alignment of multi-modal tokens is performed by encoding the 3D points into multi-modal features. The core design of CMT is quite simple while its performance is impressive. It achieves 74.1\% NDS (state-of-the-art with single model) on nuScenes test set while maintaining fast inference speed. Moreover, CMT has a strong robustness even if the LiDAR is missing. Code is released at //github.com/junjie18/CMT.
In this work we present CppFlow - a novel and performant planner for the Cartesian Path Planning problem, which finds valid trajectories up to 129x faster than current methods, while also succeeding on more difficult problems where others fail. At the core of the proposed algorithm is the use of a learned, generative Inverse Kinematics solver, which is able to efficiently produce promising entire candidate solution trajectories on the GPU. Precise, valid solutions are then found through classical approaches such as differentiable programming, global search, and optimization. In combining approaches from these two paradigms we get the best of both worlds - efficient approximate solutions from generative AI which are made exact using the guarantees of traditional planning and optimization. We evaluate our system against other state of the art methods on a set of established baselines as well as new ones introduced in this work and find that our method significantly outperforms others in terms of the time to find a valid solution and planning success rate, and performs comparably in terms of trajectory length over time. The work is made open source and available for use upon acceptance.
In this study, we present a novel and challenging multilabel Vietnamese dataset (RMDM) designed to assess the performance of large language models (LLMs), in verifying electronic information related to legal contexts, focusing on fake news as potential input for electronic evidence. The RMDM dataset comprises four labels: real, mis, dis, and mal, representing real information, misinformation, disinformation, and mal-information, respectively. By including these diverse labels, RMDM captures the complexities of differing fake news categories and offers insights into the abilities of different language models to handle various types of information that could be part of electronic evidence. The dataset consists of a total of 1,556 samples, with 389 samples for each label. Preliminary tests on the dataset using GPT-based and BERT-based models reveal variations in the models' performance across different labels, indicating that the dataset effectively challenges the ability of various language models to verify the authenticity of such information. Our findings suggest that verifying electronic information related to legal contexts, including fake news, remains a difficult problem for language models, warranting further attention from the research community to advance toward more reliable AI models for potential legal applications.
In this paper we present the first investigation into the effectiveness of Large Language Models (LLMs) for Failure Mode Classification (FMC). FMC, the task of automatically labelling an observation with a corresponding failure mode code, is a critical task in the maintenance domain as it reduces the need for reliability engineers to spend their time manually analysing work orders. We detail our approach to prompt engineering to enable an LLM to predict the failure mode of a given observation using a restricted code list. We demonstrate that the performance of a GPT-3.5 model (F1=0.80) fine-tuned on annotated data is a significant improvement over a currently available text classification model (F1=0.60) trained on the same annotated data set. The fine-tuned model also outperforms the out-of-the box GPT-3.5 (F1=0.46). This investigation reinforces the need for high quality fine-tuning data sets for domain-specific tasks using LLMs.
In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored perception model in simulation that estimates a probability distribution over possible object poses given a tactile observation. To do so, we simulate the contact shapes that a dense set of object poses would produce on the sensor. Then, given a new contact shape obtained from the sensor, we match it against the pre-computed set using an object-specific embedding learned using contrastive learning. We obtain contact shapes from the sensor with an object-agnostic calibration step that maps RGB tactile observations to binary contact shapes. This mapping, which can be reused across object and sensor instances, is the only step trained with real sensor data. This results in a perception model that localizes objects from the first real tactile observation. Importantly, it produces pose distributions and can incorporate additional pose constraints coming from other perception systems, contacts, or priors. We provide quantitative results for 20 objects. Tac2Pose provides high accuracy pose estimations from distinctive tactile observations while regressing meaningful pose distributions to account for those contact shapes that could result from different object poses. We also test Tac2Pose on object models reconstructed from a 3D scanner, to evaluate the robustness to uncertainty in the object model. Finally, we demonstrate the advantages of Tac2Pose compared with three baseline methods for tactile pose estimation: directly regressing the object pose with a neural network, matching an observed contact to a set of possible contacts using a standard classification neural network, and direct pixel comparison of an observed contact with a set of possible contacts. Website: //mcube.mit.edu/research/tac2pose.html
Text Classification is the most essential and fundamental problem in Natural Language Processing. While numerous recent text classification models applied the sequential deep learning technique, graph neural network-based models can directly deal with complex structured text data and exploit global information. Many real text classification applications can be naturally cast into a graph, which captures words, documents, and corpus global features. In this survey, we bring the coverage of methods up to 2023, including corpus-level and document-level graph neural networks. We discuss each of these methods in detail, dealing with the graph construction mechanisms and the graph-based learning process. As well as the technological survey, we look at issues behind and future directions addressed in text classification using graph neural networks. We also cover datasets, evaluation metrics, and experiment design and present a summary of published performance on the publicly available benchmarks. Note that we present a comprehensive comparison between different techniques and identify the pros and cons of various evaluation metrics in this survey.
In this paper, we propose a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.
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