Physical adversarial attacks have put a severe threat to DNN-based object detectors. To enhance security, a combination of visible and infrared sensors is deployed in various scenarios, which has proven effective in disabling existing single-modal physical attacks. To further demonstrate the potential risks in such cases, we design a unified adversarial patch that can perform cross-modal physical attacks, achieving evasion in both modalities simultaneously with a single patch. Given the different imaging mechanisms of visible and infrared sensors, our work manipulates patches' shape features, which can be captured in different modalities when they undergo changes. To deal with challenges, we propose a novel boundary-limited shape optimization approach that aims to achieve compact and smooth shapes for the adversarial patch, making it easy to implement in the physical world. And a score-aware iterative evaluation method is also introduced to balance the fooling degree between visible and infrared detectors during optimization, which guides the adversarial patch to iteratively reduce the predicted scores of the multi-modal sensors. Furthermore, we propose an Affine-Transformation-based enhancement strategy that makes the learnable shape robust to various angles, thus mitigating the issue of shape deformation caused by different shooting angles in the real world. Our method is evaluated against several state-of-the-art object detectors, achieving an Attack Success Rate (ASR) of over 80%. We also demonstrate the effectiveness of our approach in physical-world scenarios under various settings, including different angles, distances, postures, and scenes for both visible and infrared sensors.
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Underlayer networks in the context of 6G for manufacturing are crucial. They address the evolving needs of highly interconnected and autonomous systems in industry. The digitalization of manufacturing processes, driven by the Internet of Things and increased data availability, enables more efficient and demand-driven production. However, wireless connectivity, which offers flexibility and easy integration of components, comes with challenges such as signal interference or high latency. A new management system is needed to coordinate and route traffic of multiple networks in a specific coverage area. This paper proposes underlayer networks designed for manufacturing, providing low latency, reliability, and security. These networks enable wireless connectivity and integration of wireless technologies into the manufacturing environment, enhancing flexibility and efficiency. The paper also discusses network slicing, spectrum sharing, and the limitations of current wireless networks in manufacturing. It introduces a network concept for underlayer networks and evaluates its application in closed-loop communication for machine tools. The study concludes with future research prospects in this area.
We introduce RotateIt, a system that enables fingertip-based object rotation along multiple axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it has access to ground-truth object shapes and physical properties. Then we distill it to operate on realistic yet noisy simulated visuotactile and proprioceptive sensory inputs. These multimodal inputs are fused via a visuotactile transformer, enabling online inference of object shapes and physical properties during deployment. We show significant performance improvements over prior methods and the importance of visual and tactile sensing.
Cross-domain NER is a challenging task to address the low-resource problem in practical scenarios. Previous typical solutions mainly obtain a NER model by pre-trained language models (PLMs) with data from a rich-resource domain and adapt it to the target domain. Owing to the mismatch issue among entity types in different domains, previous approaches normally tune all parameters of PLMs, ending up with an entirely new NER model for each domain. Moreover, current models only focus on leveraging knowledge in one general source domain while failing to successfully transfer knowledge from multiple sources to the target. To address these issues, we introduce Collaborative Domain-Prefix Tuning for cross-domain NER (CP-NER) based on text-to-text generative PLMs. Specifically, we present text-to-text generation grounding domain-related instructors to transfer knowledge to new domain NER tasks without structural modifications. We utilize frozen PLMs and conduct collaborative domain-prefix tuning to stimulate the potential of PLMs to handle NER tasks across various domains. Experimental results on the Cross-NER benchmark show that the proposed approach has flexible transfer ability and performs better on both one-source and multiple-source cross-domain NER tasks. Codes are available in //github.com/zjunlp/DeepKE/tree/main/example/ner/cross.
One of the main challenges in distributed computing is building interfaces and APIs that allow programmers with limited background in distributed systems to write scalable, performant, and fault-tolerant applications on large clusters. In this demonstration, we designed and implemented a Haskell auto-parallelizer with a simple yet powerful interface by taking advantage of the default purity of Haskell functions. Finally, we benchmarked our implementation on a set of examples to illustrate the potential for future work in this direction.
High assurance of information-flow security (IFS) for concurrent systems is challenging. A promising way for formal verification of concurrent systems is the rely-guarantee method. However, existing compositional reasoning approaches for IFS concentrate on language-based IFS. It is often not applicable for system-level security, such as multicore operating system kernels, in which secrecy of actions should also be considered. On the other hand, existing studies on the rely-guarantee method are basically built on concurrent programming languages, by which semantics of concurrent systems cannot be completely captured in a straightforward way. In order to formally verify state-action based IFS for concurrent systems, we propose a rely-guarantee-based compositional reasoning approach for IFS in this paper. We first design a language by incorporating ``Event'' into concurrent languages and give the IFS semantics of the language. As a primitive element, events offer an extremely neat framework for modeling system and are not necessarily atomic in our language. For compositional reasoning of IFS, we use rely-guarantee specification to define new forms of unwinding conditions (UCs) on events, i.e., event UCs. By a rely-guarantee proof system of the language and the soundness of event UCs, we have that event UCs imply IFS of concurrent systems. In such a way, we relax the atomicity constraint of actions in traditional UCs and provide a compositional reasoning way for IFS in which security proof of systems can be discharged by independent security proof on individual events. Finally, we mechanize the approach in Isabelle/HOL and develop a formal specification and its IFS proof for multicore separation kernels as a study case according to an industrial standard -- ARINC 653.
We introduce a distinctive real-time, causal, neural network-based active speaker detection system optimized for low-power edge computing. This system drives a virtual cinematography module and is deployed on a commercial device. The system uses data originating from a microphone array and a 360-degree camera. Our network requires only 127 MFLOPs per participant, for a meeting with 14 participants. Unlike previous work, we examine the error rate of our network when the computational budget is exhausted, and find that it exhibits graceful degradation, allowing the system to operate reasonably well even in this case. Departing from conventional DOA estimation approaches, our network learns to query the available acoustic data, considering the detected head locations. We train and evaluate our algorithm on a realistic meetings dataset featuring up to 14 participants in the same meeting, overlapped speech, and other challenging scenarios.
Visual object recognition in unseen and cluttered indoor environments is a challenging problem for mobile robots. Toward this goal, we extend our previous work to propose the TOPS2 descriptor, and an accompanying recognition framework, THOR2, inspired by a human reasoning mechanism known as object unity. We interleave color embeddings obtained using the Mapper algorithm for topological soft clustering with the shape-based TOPS descriptor to obtain the TOPS2 descriptor. THOR2, trained using synthetic data, achieves substantially higher recognition accuracy than the shape-based THOR framework and outperforms RGB-D ViT on two real-world datasets: the benchmark OCID dataset and the UW-IS Occluded dataset. Therefore, THOR2 is a promising step toward achieving robust recognition in low-cost robots.
Grasping objects by a specific part is often crucial for safety and for executing downstream tasks. Yet, learning-based grasp planners lack this behavior unless they are trained on specific object part data, making it a significant challenge to scale object diversity. Instead, we propose LERF-TOGO, Language Embedded Radiance Fields for Task-Oriented Grasping of Objects, which uses vision-language models zero-shot to output a grasp distribution over an object given a natural language query. To accomplish this, we first reconstruct a LERF of the scene, which distills CLIP embeddings into a multi-scale 3D language field queryable with text. However, LERF has no sense of objectness, meaning its relevancy outputs often return incomplete activations over an object which are insufficient for subsequent part queries. LERF-TOGO mitigates this lack of spatial grouping by extracting a 3D object mask via DINO features and then conditionally querying LERF on this mask to obtain a semantic distribution over the object with which to rank grasps from an off-the-shelf grasp planner. We evaluate LERF-TOGO's ability to grasp task-oriented object parts on 31 different physical objects, and find it selects grasps on the correct part in 81% of all trials and grasps successfully in 69%. See the project website at: lerftogo.github.io
Autonomic computing investigates how systems can achieve (user) specified control outcomes on their own, without the intervention of a human operator. Autonomic computing fundamentals have been substantially influenced by those of control theory for closed and open-loop systems. In practice, complex systems may exhibit a number of concurrent and inter-dependent control loops. Despite research into autonomic models for managing computer resources, ranging from individual resources (e.g., web servers) to a resource ensemble (e.g., multiple resources within a data center), research into integrating Artificial Intelligence (AI) and Machine Learning (ML) to improve resource autonomy and performance at scale continues to be a fundamental challenge. The integration of AI/ML to achieve such autonomic and self-management of systems can be achieved at different levels of granularity, from full to human-in-the-loop automation. In this article, leading academics, researchers, practitioners, engineers, and scientists in the fields of cloud computing, AI/ML, and quantum computing join to discuss current research and potential future directions for these fields. Further, we discuss challenges and opportunities for leveraging AI and ML in next generation computing for emerging computing paradigms, including cloud, fog, edge, serverless and quantum computing environments.
Object detection typically assumes that training and test data are drawn from an identical distribution, which, however, does not always hold in practice. Such a distribution mismatch will lead to a significant performance drop. In this work, we aim to improve the cross-domain robustness of object detection. We tackle the domain shift on two levels: 1) the image-level shift, such as image style, illumination, etc, and 2) the instance-level shift, such as object appearance, size, etc. We build our approach based on the recent state-of-the-art Faster R-CNN model, and design two domain adaptation components, on image level and instance level, to reduce the domain discrepancy. The two domain adaptation components are based on H-divergence theory, and are implemented by learning a domain classifier in adversarial training manner. The domain classifiers on different levels are further reinforced with a consistency regularization to learn a domain-invariant region proposal network (RPN) in the Faster R-CNN model. We evaluate our newly proposed approach using multiple datasets including Cityscapes, KITTI, SIM10K, etc. The results demonstrate the effectiveness of our proposed approach for robust object detection in various domain shift scenarios.
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