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Automated driving systems are an integral part of the automotive industry. Tools such as Robot Operating System and simulators support their development. However, in the end, the developers must test their algorithms on a real vehicle. To better observe the difference between reality and simulation--the reality gap--digital twin technology offers real-time communication between the real vehicle and its model. We present low fidelity digital twin generator and describe situations where automatic generation is preferable to high fidelity simulation. We validated our approach of generating a virtual environment with a vehicle model by replaying the data recorded from the real vehicle.

Zero-shot information extraction (IE) aims to build IE systems from the unannotated text. It is challenging due to involving little human intervention. Challenging but worthwhile, zero-shot IE reduces the time and effort that data labeling takes. Recent efforts on large language models (LLMs, e.g., GPT-3, ChatGPT) show promising performance on zero-shot settings, thus inspiring us to explore prompt-based methods. In this work, we ask whether strong IE models can be constructed by directly prompting LLMs. Specifically, we transform the zero-shot IE task into a multi-turn question-answering problem with a two-stage framework (ChatIE). With the power of ChatGPT, we extensively evaluate our framework on three IE tasks: entity-relation triple extract, named entity recognition, and event extraction. Empirical results on six datasets across two languages show that ChatIE achieves impressive performance and even surpasses some full-shot models on several datasets (e.g., NYT11-HRL). We believe that our work could shed light on building IE models with limited resources.

Post Quantum and Quantum Cryptography schemes are feasible quantum computer applications for 7G networks. These schemes could possibly replace existing schemes. These algorithms have been compromised by advances in quantum search algorithms run on quantum computers like Shor algorithm. Shor algorithm is a quantum algorithm for finding the prime factors of an integer which is the basis of existing algorithm. This has become an available quantum computer application putting the use of ESA algorithm at risk. Our recent paper provides a detailed survey of the work on post quantum and quantum cryptography algorithms with focus on their applicability in 7G networks. Since the paper focuses on the cryptography algorithms as a follow up, in this paper, we provide a new framework for quantum network optimization and survey in detail the work on enabling technologies (quantum hardware) for the practical implementation of these algorithms including the most important segments of quantum hardware in 7G. As always in engineering practice practical solutions are a compromise between the performance and complexity of the implementation. For this reason, as the main contribution, the paper presents a network and computer applications optimization framework that includes implementation imperfections. The tools should be useful in optimizing future generation practical computer system design. After that a comprehensive survey of the existing work on quantum hardware is presented pointing out the sources of these imperfections. This enables us to make a fair assessment of how much investment into quantum hardware improvements contributes to the performance enhancement of the overall system. In this way a decision can be made on proper partitioning between the investment in hardware and system level complexity.

With the proliferation of edge devices, there is a significant increase in attack surface on these devices. The decentralized deployment of threat intelligence on edge devices, coupled with adaptive machine learning techniques such as the in-context learning feature of Large Language Models (LLMs), represents a promising paradigm for enhancing cybersecurity on resource-constrained edge devices. This approach involves the deployment of lightweight machine learning models directly onto edge devices to analyze local data streams, such as network traffic and system logs, in real-time. Additionally, distributing computational tasks to an edge server reduces latency and improves responsiveness while also enhancing privacy by processing sensitive data locally. LLM servers can enable these edge servers to autonomously adapt to evolving threats and attack patterns, continuously updating their models to improve detection accuracy and reduce false positives. Furthermore, collaborative learning mechanisms facilitate peer-to-peer secure and trustworthy knowledge sharing among edge devices, enhancing the collective intelligence of the network and enabling dynamic threat mitigation measures such as device quarantine in response to detected anomalies. The scalability and flexibility of this approach make it well-suited for diverse and evolving network environments, as edge devices only send suspicious information such as network traffic and system log changes, offering a resilient and efficient solution to combat emerging cyber threats at the network edge. Thus, our proposed framework can improve edge computing security by providing better security in cyber threat detection and mitigation by isolating the edge devices from the network.

LLMs are computationally expensive to pre-train due to their large scale. Model growth emerges as a promising approach by leveraging smaller models to accelerate the training of larger ones. However, the viability of these model growth methods in efficient LLM pre-training remains underexplored. This work identifies three critical $\underline{\textit{O}}$bstacles: ($\textit{O}$1) lack of comprehensive evaluation, ($\textit{O}$2) untested viability for scaling, and ($\textit{O}$3) lack of empirical guidelines. To tackle $\textit{O}$1, we summarize existing approaches into four atomic growth operators and systematically evaluate them in a standardized LLM pre-training setting. Our findings reveal that a depthwise stacking operator, called $G_{\text{stack}}$, exhibits remarkable acceleration in training, leading to decreased loss and improved overall performance on eight standard NLP benchmarks compared to strong baselines. Motivated by these promising results, we conduct extensive experiments to delve deeper into $G_{\text{stack}}$ to address $\textit{O}$2 and $\textit{O}$3. For $\textit{O}$2 (untested scalability), our study shows that $G_{\text{stack}}$ is scalable and consistently performs well, with experiments up to 7B LLMs after growth and pre-training LLMs with 750B tokens. For example, compared to a conventionally trained 7B model using 300B tokens, our $G_{\text{stack}}$ model converges to the same loss with 194B tokens, resulting in a 54.6\% speedup. We further address $\textit{O}$3 (lack of empirical guidelines) by formalizing guidelines to determine growth timing and growth factor for $G_{\text{stack}}$, making it practical in general LLM pre-training. We also provide in-depth discussions and comprehensive ablation studies of $G_{\text{stack}}$. Our code and pre-trained model are available at $\href{//llm-stacking.github.io/}{//llm-stacking.github.io/}$.

As the current initialization method in the state-of-the-art Stereo Visual-Inertial SLAM framework, ORB-SLAM3 has limitations. Its success depends on the performance of the pure stereo SLAM system and is based on the underlying assumption that pure visual SLAM can accurately estimate the camera trajectory, which is essential for inertial parameter estimation. Meanwhile, the further improved initialization method for ORB-SLAM3, known as Stereo-NEC, is time-consuming due to applying keypoint tracking to estimate gyroscope bias with normal epipolar constraints. To address the limitations of previous methods, this paper proposes a method aimed at enhancing translation accuracy during the initialization stage. The fundamental concept of our method is to improve the translation estimate with a 3 Degree-of-Freedom (DoF) Bundle Adjustment (BA), independently, while the rotation estimate is fixed, instead of using ORB-SLAM3's 6-DoF BA. Additionally, the rotation estimate will be updated by considering IMU measurements and gyroscope bias, unlike ORB-SLAM3's rotation, which is directly obtained from stereo visual odometry and may yield inferior results when operating in challenging scenarios. We also conduct extensive evaluations on the public benchmark, the EuRoC dataset, demonstrating that our method excels in accuracy.

Wi-Fi-based Positioning Systems (WPSes) are used by modern mobile devices to learn their position using nearby Wi-Fi access points as landmarks. In this work, we show that Apple's WPS can be abused to create a privacy threat on a global scale. We present an attack that allows an unprivileged attacker to amass a worldwide snapshot of Wi-Fi BSSID geolocations in only a matter of days. Our attack makes few assumptions, merely exploiting the fact that there are relatively few dense regions of allocated MAC address space. Applying this technique over the course of a year, we learned the precise locations of over 2 billion BSSIDs around the world. The privacy implications of such massive datasets become more stark when taken longitudinally, allowing the attacker to track devices' movements. While most Wi-Fi access points do not move for long periods of time, many devices -- like compact travel routers -- are specifically designed to be mobile. We present several case studies that demonstrate the types of attacks on privacy that Apple's WPS enables: We track devices moving in and out of war zones (specifically Ukraine and Gaza), the effects of natural disasters (specifically the fires in Maui), and the possibility of targeted individual tracking by proxy -- all by remotely geolocating wireless access points. We provide recommendations to WPS operators and Wi-Fi access point manufacturers to enhance the privacy of hundreds of millions of users worldwide. Finally, we detail our efforts at responsibly disclosing this privacy vulnerability, and outline some mitigations that Apple and Wi-Fi access point manufacturers have implemented both independently and as a result of our work.

Fact-checking based on commercial LLMs has become mainstream. Although these methods offer high explainability, it falls short in accuracy compared to traditional fine-tuning approaches, and data security is also a significant concern. In this paper, we propose a self-instruction based fine-tuning approach for fact-checking that balances accuracy and explainability. Our method consists of Data Augmentation and Improved DPO fine-tuning. The former starts by instructing the model to generate both positive and negative explanations based on claim-evidence pairs and labels, then sampling the dataset according to our customized difficulty standards. The latter employs our proposed improved DPO to fine-tune the model using the generated samples. We fine-tune the smallest-scale LLaMA-7B model and evaluate it on the challenging fact-checking datasets FEVEROUS and HOVER, utilizing four fine-tuning methods and three few-shot learning methods for comparison. The experiments demonstrate that our approach not only retains accuracy comparable to, or even surpassing, traditional fine-tuning methods, but also generates fluent explanation text. Moreover, it also exhibit high generalization performance. Our method is the first to leverage self-supervised learning for fact-checking and innovatively combines contrastive learning and improved DPO in fine-tuning LLMs, as shown in the experiments.

Deep neural networks (DNNs) are successful in many computer vision tasks. However, the most accurate DNNs require millions of parameters and operations, making them energy, computation and memory intensive. This impedes the deployment of large DNNs in low-power devices with limited compute resources. Recent research improves DNN models by reducing the memory requirement, energy consumption, and number of operations without significantly decreasing the accuracy. This paper surveys the progress of low-power deep learning and computer vision, specifically in regards to inference, and discusses the methods for compacting and accelerating DNN models. The techniques can be divided into four major categories: (1) parameter quantization and pruning, (2) compressed convolutional filters and matrix factorization, (3) network architecture search, and (4) knowledge distillation. We analyze the accuracy, advantages, disadvantages, and potential solutions to the problems with the techniques in each category. We also discuss new evaluation metrics as a guideline for future research.

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.