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A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and mapping (SLAM) is feasible for high-end robotic platforms, whereas small and inexpensive robots face challenges due to constrained hardware, therefore frequently resorting to external infrastructure for sensing and computation. The challenge is further exacerbated in swarms of robots, where coordination, scalability, and latency are crucial concerns. This work introduces a decentralized and lightweight collaborative SLAM approach that enables mapping on virtually any robot, even those equipped with low-cost hardware, including miniaturized insect-size devices. Moreover, the proposed solution supports large swarm formations with the capability to coordinate hundreds of agents. To substantiate our claims, we have successfully implemented collaborative SLAM on centimeter-size drones weighing only 46 grams. Remarkably, we achieve results comparable to high-end state-of-the-art solutions while reducing the cost, memory, and computation requirements by two orders of magnitude. Our approach is innovative in three main aspects. First, it enables onboard infrastructure-less collaborative mapping with a lightweight and cost-effective solution in terms of sensing and computation. Second, we optimize the data traffic within the swarm to support hundreds of cooperative agents using standard wireless protocols such as ultra-wideband (UWB), Bluetooth, or WiFi. Last, we implement a distributed swarm coordination policy to decrease mapping latency and enhance accuracy.

LLMs are known to be vulnerable to jailbreak attacks, even after safety alignment. An important observation is that, while different types of jailbreak attacks can generate significantly different queries, they mostly result in similar responses that are rooted in the same harmful knowledge (e.g., detailed steps to make a bomb). Therefore, we conjecture that directly unlearn the harmful knowledge in the LLM can be a more effective way to defend against jailbreak attacks than the mainstream supervised fine-tuning (SFT) based approaches. Our extensive experiments confirmed our insight and suggested surprising generalizability of our unlearning-based approach: using only 20 raw harmful questions \emph{without} any jailbreak prompt during training, our solution reduced the Attack Success Rate (ASR) in Vicuna-7B on \emph{out-of-distribution} (OOD) harmful questions wrapped with various complex jailbreak prompts from 82.6\% to 7.7\%. This significantly outperforms Llama2-7B-Chat, which is fine-tuned on about 0.1M safety alignment samples but still has an ASR of 21.9\% even under the help of an additional safety system prompt. Further analysis reveals that the generalization ability of our solution stems from the intrinsic relatedness among harmful responses across harmful questions (e.g., response patterns, shared steps and actions, and similarity among their learned representations in the LLM). Our code is available at \url{//github.com/thu-coai/SafeUnlearning}.

Energy measurement of computer devices, which are widely used in the Internet of Things (IoT), is an important yet challenging task. Most of these IoT devices lack ready-to-use hardware or software for power measurement. A cost-effective solution is to use low-end consumer-grade power meters. However, these low-end power meters cannot provide accurate instantaneous power measurements. In this paper, we propose an easy-to-use approach to derive an instantaneous software-based energy estimation model with only low-end power meters based on data-driven analysis through machine learning. Our solution is demonstrated with a Jetson Nano board and Ruideng UM25C USB power meter. Various machine learning methods combined with our smart data collection method and physical measurement are explored. Benchmarks were used to evaluate the derived software-power model for the Jetson Nano board and Raspberry Pi. The results show that 92% accuracy can be achieved compared to the long-duration measurement. A kernel module that can collect running traces of utilization and frequencies needed is developed, together with the power model derived, for power prediction for programs running in real environment.

In the realm of autonomous agents, ensuring safety and reliability in complex and dynamic environments remains a paramount challenge. Safe reinforcement learning addresses these concerns by introducing safety constraints, but still faces challenges in navigating intricate environments such as complex driving situations. To overcome these challenges, we present the safe constraint reward (Safe CoR) framework, a novel method that utilizes two types of expert demonstrations$\unicode{x2013}$reward expert demonstrations focusing on performance optimization and safe expert demonstrations prioritizing safety. By exploiting a constraint reward (CoR), our framework guides the agent to balance performance goals of reward sum with safety constraints. We test the proposed framework in diverse environments, including the safety gym, metadrive, and the real$\unicode{x2013}$world Jackal platform. Our proposed framework enhances the performance of algorithms by $39\%$ and reduces constraint violations by $88\%$ on the real-world Jackal platform, demonstrating the framework's efficacy. Through this innovative approach, we expect significant advancements in real-world performance, leading to transformative effects in the realm of safe and reliable autonomous agents.

Trustworthy prediction in Deep Neural Networks (DNNs), including Pre-trained Language Models (PLMs) is important for safety-critical applications in the real world. However, DNNs often suffer from uncertainty estimation, such as miscalibration. In particular, approaches that require multiple stochastic inference can mitigate this problem, but the expensive cost of inference makes them impractical. In this study, we propose $k$-Nearest Neighbor Uncertainty Estimation ($k$NN-UE), which is an uncertainty estimation method that uses the distances from the neighbors and label-existence ratio of neighbors. Experiments on sentiment analysis, natural language inference, and named entity recognition show that our proposed method outperforms the baselines or recent density-based methods in confidence calibration, selective prediction, and out-of-distribution detection. Moreover, our analyses indicate that introducing dimension reduction or approximate nearest neighbor search inspired by recent $k$NN-LM studies reduces the inference overhead without significantly degrading estimation performance when combined them appropriately.

In causal inference, estimating Heterogeneous Treatment Effects (HTEs) from observational data is critical for understanding how different subgroups respond to treatments, with broad applications such as precision medicine and targeted advertising. However, existing work on HTE, subgroup discovery, and causal visualization is insufficient to address two challenges: first, the sheer number of potential subgroups and the necessity to balance multiple objectives (e.g., high effects and low variances) pose a considerable analytical challenge. Second, effective subgroup analysis has to follow the analysis goal specified by users and provide causal results with verification. To this end, we propose a visual analytics approach for subgroup-based causal heterogeneity exploration. Specifically, we first formulate causal subgroup discovery as a constrained multi-objective optimization problem and adopt a heuristic genetic algorithm to learn the Pareto front of optimal subgroups described by interpretable rules. Combining with this model, we develop a prototype system, CausalPrism, that incorporates tabular visualization, multi-attribute rankings, and uncertainty plots to support users in interactively exploring and sorting subgroups and explaining treatment effects. Quantitative experiments validate that the proposed model can efficiently mine causal subgroups that outperform state-of-the-art HTE and subgroup discovery methods, and case studies and expert interviews demonstrate the effectiveness and usability of the system. Code is available at //osf.io/jaqmf/?view_only=ac9575209945476b955bf829c85196e9.

This paper investigates autonomous driving safety improvement via task offloading from cellular vehicles (CVs) to a multi-access edge computing (MEC) server using vehicle-to-infrastructure (V2I) links. Considering that the latter links can be reused by vehicle-to-vehicle (V2V) communications to improve spectrum utilization, the receiver of the V2I link may suffer from severe interference that can cause outages during the task offloading. To tackle this issue, we propose the deployment of a reconfigurable intelligent computational surface (RICS) whose computationally capable metamaterials are leveraged to jointly enable V2I reflective links as well as to implement interference cancellation at the V2V links. We devise a joint optimization formulation for the task offloading ratio between the CVs and the MEC server, the spectrum sharing strategy between V2V and V2I communications, as well as the RICS reflection and refraction matrices to maximize an autonomous driving safety task. Due to the non-convexity of the problem and the coupling among its free variables, we transform it into a more tractable equivalent form, which is then decomposed into three sub-problems solved via an alternate approximation method. Our simulation results showcase that the proposed RICS-assisted offloading framework significantly improves the safety of the considered autonomous driving network, yielding a nearly 34\% improvement in the safety coefficient of the CVs. In addition, it is demonstrated that the V2V data rate can be improved by around 60\% indicating that the RICS-induced adjustment of the signals can effectively mitigate interference at the V2V link.

UWB ranging systems have been adopted in many critical and security sensitive applications due to its precise positioning and secure ranging capabilities. We present a practical jamming attack, namely UWBAD, against commercial UWB ranging systems, which exploits the vulnerability of the adoption of the normalized cross-correlation process in UWB ranging and can selectively and quickly block ranging sessions without prior knowledge of the configurations of the victim devices, potentially leading to severe consequences such as property loss, unauthorized access, or vehicle theft. UWBAD achieves more effective and less imperceptible jamming due to: (i) it efficiently blocks every ranging session by leveraging the field-level jamming, thereby exerting a tangible impact on commercial UWB ranging systems, and (ii) the compact, reactive, and selective system design based on COTS UWB chips, making it affordable and less imperceptible. We successfully conducted real attacks against commercial UWB ranging systems from the three largest UWB chip vendors on the market, e.g., Apple, NXP, and Qorvo. We reported our findings to Apple, related Original Equipment Manufacturers (OEM), and the Automotive Security Research Group, triggering internal security incident response procedures at Volkswagen, Audi, Bosch, and NXP. As of the writing of this paper, the related OEM has acknowledged this vulnerability in their automotive systems and has offered a $5,000 reward as a bounty.

Hyperproperties are commonly used in computer security to define information-flow policies and other requirements that reason about the relationship between multiple computations. In this paper, we study a novel class of hyperproperties where the individual computation paths are chosen by the strategic choices of a coalition of agents in a multi-agent system. We introduce HyperATL*, an extension of computation tree logic with path variables and strategy quantifiers. Our logic can express strategic hyperproperties, such as that the scheduler in a concurrent system has a strategy to avoid information leakage. HyperATL* is particularly useful to specify asynchronous hyperproperties, i.e., hyperproperties where the speed of the execution on the different computation paths depends on the choices of the scheduler. Unlike other recent logics for the specification of asynchronous hyperproperties, our logic is the first to admit decidable model checking for the full logic. We present a model checking algorithm for HyperATL* based on alternating automata, and show that our algorithm is asymptotically optimal by providing a matching lower bound. We have implemented a prototype model checker for a fragment of HyperATL*, able to check various security properties on small programs.

Most existing knowledge graphs suffer from incompleteness, which can be alleviated by inferring missing links based on known facts. One popular way to accomplish this is to generate low-dimensional embeddings of entities and relations, and use these to make inferences. ConvE, a recently proposed approach, applies convolutional filters on 2D reshapings of entity and relation embeddings in order to capture rich interactions between their components. However, the number of interactions that ConvE can capture is limited. In this paper, we analyze how increasing the number of these interactions affects link prediction performance, and utilize our observations to propose InteractE. InteractE is based on three key ideas -- feature permutation, a novel feature reshaping, and circular convolution. Through extensive experiments, we find that InteractE outperforms state-of-the-art convolutional link prediction baselines on FB15k-237. Further, InteractE achieves an MRR score that is 9%, 7.5%, and 23% better than ConvE on the FB15k-237, WN18RR and YAGO3-10 datasets respectively. The results validate our central hypothesis -- that increasing feature interaction is beneficial to link prediction performance. We make the source code of InteractE available to encourage reproducible research.