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The jailbreak attack can bypass the safety measures of a Large Language Model (LLM), generating harmful content. This misuse of LLM has led to negative societal consequences. Currently, there are two main approaches to address jailbreak attacks: safety training and safeguards. Safety training focuses on further training LLM to enhance its safety. On the other hand, safeguards involve implementing external models or filters to prevent harmful outputs. However, safety training has constraints in its ability to adapt to new attack types and often leads to a drop in model performance. Safeguards have proven to be of limited help. To tackle these issues, we propose a novel approach called Self-Guard, which combines the strengths of both safety methods. Self-Guard includes two stages. In the first stage, we enhance the model's ability to assess harmful content, and in the second stage, we instruct the model to consistently perform harmful content detection on its own responses. The experiment has demonstrated that Self-Guard is robust against jailbreak attacks. In the bad case analysis, we find that LLM occasionally provides harmless responses to harmful queries. Additionally, we evaluated the general capabilities of the LLM before and after safety training, providing evidence that Self-Guard does not result in the LLM's performance degradation. In sensitivity tests, Self-Guard not only avoids inducing over-sensitivity in LLM but also can even mitigate this issue.

Large-scale driving datasets such as Waymo Open Dataset and nuScenes substantially accelerate autonomous driving research, especially for perception tasks such as 3D detection and trajectory forecasting. Since the driving logs in these datasets contain HD maps and detailed object annotations which accurately reflect the real-world complexity of traffic behaviors, we can harvest a massive number of complex traffic scenarios and recreate their digital twins in simulation. Compared to the hand-crafted scenarios often used in existing simulators, data-driven scenarios collected from the real world can facilitate many research opportunities in machine learning and autonomous driving. In this work, we present ScenarioNet, an open-source platform for large-scale traffic scenario modeling and simulation. ScenarioNet defines a unified scenario description format and collects a large-scale repository of real-world traffic scenarios from the heterogeneous data in various driving datasets including Waymo, nuScenes, Lyft L5, and nuPlan datasets. These scenarios can be further replayed and interacted with in multiple views from Bird-Eye-View layout to realistic 3D rendering in MetaDrive simulator. This provides a benchmark for evaluating the safety of autonomous driving stacks in simulation before their real-world deployment. We further demonstrate the strengths of ScenarioNet on large-scale scenario generation, imitation learning, and reinforcement learning in both single-agent and multi-agent settings. Code, demo videos, and website are available at //metadriverse.github.io/scenarionet.

The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great challenges in planning and control. To realize fully autonomous aerial transportation, this paper presents a systematic solution to address these difficulties. First, we present a real-time planning method that generates smooth trajectories considering the time-varying shape and non-linear dynamics of the system, ensuring whole-body safety and dynamic feasibility. Additionally, an adaptive NMPC with a hierarchical disturbance compensation strategy is designed to overcome unknown external perturbations and inaccurate model parameters. Extensive experiments show that our method is capable of generating high-quality trajectories online, even in highly constrained environments, and tracking aggressive flight trajectories accurately, even under significant uncertainty. We plan to release our code to benefit the community.

Ensuring safety in automated driving is a major challenge for the automotive industry. Special attention is paid to artificial intelligence, in particular to Deep Neural Networks (DNNs), which is considered a key technology in the realization of highly automated driving. DNNs learn from training data, which means that they only achieve good accuracy within the underlying data distribution of the training data. When leaving the training domain, a distributional shift is caused, which can lead to a drastic reduction of accuracy. In this work, we present a proof of concept for a safety mechanism that can detect the leaving of the domain online, i.e. at runtime. In our experiments with the Synthia data set we can show that a 100 % correct detection of whether the input data is inside or outside the domain is achieved. The ability to detect when the vehicle leaves the domain can be an important requirement for certification.

Multi-sensor fusion is an effective way to enhance the positioning performance of autonomous underwater vehicles (AUVs). However, underwater multi-sensor fusion faces challenges such as heterogeneous frequency and dynamic availability of sensors. Traditional filter-based algorithms suffer from low accuracy and robustness when sensors become unavailable. The factor graph optimization (FGO) can enable multi-sensor plug-and-play despite data frequency. Therefore, we present an FGO-based strapdown inertial navigation system (SINS) and long baseline location (LBL) system tightly coupled navigation system (FGO-ILNS). Sensors such as Doppler velocity log (DVL), magnetic compass pilot (MCP), pressure sensor (PS), and global navigation satellite system (GNSS) can be tightly coupled with FGO-ILNS to satisfy different navigation scenarios. In this system, we propose a floating LBL slant range difference factor model tightly coupled with IMU preintegration factor to achieve unification of global position above and below water. Furthermore, to address the issue of sensor measurements not being synchronized with the LBL during fusion, we employ forward-backward IMU preintegration to construct sensor factors such as GNSS and DVL. Moreover, we utilize the marginalization method to reduce the computational load of factor graph optimization. Simulation and public KAIST dataset experiments have verified that, compared to filter-based algorithms like the extended Kalman filter and federal Kalman filter, as well as the state-of-the-art optimization-based algorithm ORB-SLAM3, our proposed FGO-ILNS leads in accuracy and robustness.

Unmanned aerial vehicles (UAVs) can provide wireless access to terrestrial users, regardless of geographical constraints, and will be an important part of future communication systems. In this paper, a multi-user downlink dual-UAVs enabled covert communication system was investigated, in which a UAV transmits secure information to ground users in the presence of multiple wardens as well as a friendly jammer UAV transmits artificial jamming signals to fight with the wardens. The scenario of wardens being outfitted with a single antenna is considered, and the detection error probability (DEP) of wardens with finite observations is researched. Then, considering the uncertainty of wardens' location, a robust optimization problem with worst-case covertness constraint is formulated to maximize the average covert rate by jointly optimizing power allocation and trajectory. To cope with the optimization problem, an algorithm based on successive convex approximation methods is proposed. Thereafter, the results are extended to the case where all the wardens are equipped with multiple antennas. After analyzing the DEP in this scenario, a tractable lower bound of the DEP is obtained by utilizing Pinsker's inequality. Subsequently, the non-convex optimization problem was established and efficiently coped by utilizing a similar algorithm as in the single-antenna scenario. Numerical results indicate the effectiveness of our proposed algorithm.

To address security and safety risks stemming from highly capable artificial intelligence (AI) models, we propose that the US government should ensure compute providers implement Know-Your-Customer (KYC) schemes. Compute - the computational power and infrastructure required to train and run these AI models - is emerging as a node for oversight. KYC, a standard developed by the banking sector to identify and verify client identity, could provide a mechanism for greater public oversight of frontier AI development and close loopholes in existing export controls. Such a scheme has the potential to identify and warn stakeholders of potentially problematic and/or sudden advancements in AI capabilities, build government capacity for AI regulation, and allow for the development and implementation of more nuanced and targeted export controls. Unlike the strategy of limiting access to AI chip purchases, regulating the digital access to compute offers more precise controls, allowing regulatory control over compute quantities, as well as the flexibility to suspend access at any time. To enact a KYC scheme, the US government will need to work closely with industry to (1) establish a dynamic threshold of compute that effectively captures high-risk frontier model development, while minimizing imposition on developers not engaged in frontier AI; (2) set requirements and guidance for compute providers to keep records and report high-risk entities; (3) establish government capacity that allows for co-design, implementation, administration and enforcement of the scheme; and (4) engage internationally to promote international alignment with the scheme and support its long-term efficacy. While the scheme will not address all AI risks, it complements proposed solutions by allowing for a more precise and flexible approach to controlling the development of frontier AI models and unwanted AI proliferation.

Timely and accurate extraction of Adverse Drug Events (ADE) from biomedical literature is paramount for public safety, but involves slow and costly manual labor. We set out to improve drug safety monitoring (pharmacovigilance, PV) through the use of Natural Language Processing (NLP). We introduce BioDEX, a large-scale resource for Biomedical adverse Drug Event Extraction, rooted in the historical output of drug safety reporting in the U.S. BioDEX consists of 65k abstracts and 19k full-text biomedical papers with 256k associated document-level safety reports created by medical experts. The core features of these reports include the reported weight, age, and biological sex of a patient, a set of drugs taken by the patient, the drug dosages, the reactions experienced, and whether the reaction was life threatening. In this work, we consider the task of predicting the core information of the report given its originating paper. We estimate human performance to be 72.0% F1, whereas our best model achieves 62.3% F1, indicating significant headroom on this task. We also begin to explore ways in which these models could help professional PV reviewers. Our code and data are available: //github.com/KarelDO/BioDEX.

Owing to effective and flexible data acquisition, unmanned aerial vehicle (UAV) has recently become a hotspot across the fields of computer vision (CV) and remote sensing (RS). Inspired by recent success of deep learning (DL), many advanced object detection and tracking approaches have been widely applied to various UAV-related tasks, such as environmental monitoring, precision agriculture, traffic management. This paper provides a comprehensive survey on the research progress and prospects of DL-based UAV object detection and tracking methods. More specifically, we first outline the challenges, statistics of existing methods, and provide solutions from the perspectives of DL-based models in three research topics: object detection from the image, object detection from the video, and object tracking from the video. Open datasets related to UAV-dominated object detection and tracking are exhausted, and four benchmark datasets are employed for performance evaluation using some state-of-the-art methods. Finally, prospects and considerations for the future work are discussed and summarized. It is expected that this survey can facilitate those researchers who come from remote sensing field with an overview of DL-based UAV object detection and tracking methods, along with some thoughts on their further developments.

The concept of smart grid has been introduced as a new vision of the conventional power grid to figure out an efficient way of integrating green and renewable energy technologies. In this way, Internet-connected smart grid, also called energy Internet, is also emerging as an innovative approach to ensure the energy from anywhere at any time. The ultimate goal of these developments is to build a sustainable society. However, integrating and coordinating a large number of growing connections can be a challenging issue for the traditional centralized grid system. Consequently, the smart grid is undergoing a transformation to the decentralized topology from its centralized form. On the other hand, blockchain has some excellent features which make it a promising application for smart grid paradigm. In this paper, we have an aim to provide a comprehensive survey on application of blockchain in smart grid. As such, we identify the significant security challenges of smart grid scenarios that can be addressed by blockchain. Then, we present a number of blockchain-based recent research works presented in different literatures addressing security issues in the area of smart grid. We also summarize several related practical projects, trials, and products that have been emerged recently. Finally, we discuss essential research challenges and future directions of applying blockchain to smart grid security issues.