Sensors are crucial for perception and autonomous operation in robotic vehicles (RV). Unfortunately, RV sensors can be compromised by physical attacks such as sensor tampering or spoofing. In this paper, we present DeLorean, a unified framework for attack detection, attack diagnosis, and recovering RVs from sensor deception attacks (SDA). DeLorean can recover RVs even from strong SDAs in which the adversary targets multiple heterogeneous sensors simultaneously. We propose a novel attack diagnosis technique that inspects the attack-induced errors under SDAs, and identifies the targeted sensors using causal analysis. DeLorean then uses historic state information to selectively reconstruct physical states for compromised sensors, enabling targeted attack recovery under single or multi-sensor SDAs. We evaluate DeLorean on four real and two simulated RVs under SDAs targeting various sensors, and we find that it successfully recovers RVs from SDAs in 93% of the cases.
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Higher order finite difference Weighted Essentially Non-Oscillatory (WENO) schemes for conservation laws represent a technology that has been reasonably consolidated. They are extremely popular because, when applied to multidimensional problems, they offer high order accuracy at a fraction of the cost of finite volume WENO or DG schemes. They come in two flavors. There is the classical finite difference WENO (FD-WENO) method (Shu and Osher, J. Comput. Phys., 83 (1989) 32-78). However, in recent years there is also an alternative finite difference WENO (AFD-WENO) method which has recently been formalized into a very useful general-purpose algorithm for conservation laws (Balsara et al., Efficient Alternative Finite Difference WENO Schemes for Hyperbolic Conservation Laws, submitted to CAMC (2023)). However, the FD-WENO algorithm has only very recently been formulated for hyperbolic systems with non-conservative products (Balsara et al., Efficient Finite Difference WENO Scheme for Hyperbolic Systems with Non-Conservative Products, to appear CAMC (2023)). In this paper we show that there are substantial advantages in obtaining an AFD-WENO algorithm for hyperbolic systems with non-conservative products. Such an algorithm is documented in this paper. We present an AFD-WENO formulation in fluctuation form that is carefully engineered to retrieve the flux form when that is warranted and nevertheless extends to non-conservative products. The method is flexible because it allows any Riemann solver to be used. The formulation we arrive at is such that when non-conservative products are absent it reverts exactly to the formulation in the second citation above which is in exact flux conservation form. The ability to transition to a precise conservation form when non-conservative products are absent ensures, via the Lax-Wendroff theorem, that shock locations will be exactly ...
Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast majority of existing arts that focus on how to improve the performance of 3D target detection through cross-modal schemes, deep learning algorithms, and training tricks, we devote attention to the impact of sensor configurations on the performance of learning-based methods. To achieve this, we propose a unified information-theoretic surrogate metric for camera and LiDAR evaluation based on the proposed sensor perception model. We also design an accelerated high-quality framework for data acquisition, model training, and performance evaluation that functions with the CARLA simulator. To show the correlation between detection performance and our surrogate metrics, We conduct experiments using several camera-LiDAR placements and parameters inspired by self-driving companies and research institutions. Extensive experimental results of representative algorithms on nuScenes dataset validate the effectiveness of our surrogate metric, demonstrating that sensor configurations significantly impact point-cloud-image fusion based detection models, which contribute up to 30% discrepancy in terms of the average precision.
Teaching is one of many professions for which personalized feedback and reflection can help improve dialogue and discussion between the professional and those they serve. However, professional development (PD) is often impersonal as human observation is labor-intensive. Data-driven PD tools in teaching are of growing interest, but open questions about how professionals engage with their data in practice remain. In this paper, we present ClassInSight, a tool that visualizes three levels of teachers' discussion data and structures reflection. Through 22 reflection sessions and interviews with 5 high school science teachers, we found themes related to dissonance, contextualization, and sustainability in how teachers engaged with their data in the tool and in how their professional vision, the use of professional expertise to interpret events, shifted over time. We discuss guidelines for these conversational support tools to support personalized PD in professions beyond teaching where conversation and interaction are important.
Direct alignment from preferences (DAP) methods, such as DPO, have recently emerged as efficient alternatives to reinforcement learning from human feedback (RLHF), that do not require a separate reward model. However, the preference datasets used in DAP methods are usually collected ahead of training and never updated, thus the feedback is purely offline. Moreover, responses in these datasets are often sampled from a language model distinct from the one being aligned, and since the model evolves over training, the alignment phase is inevitably off-policy. In this study, we posit that online feedback is key and improves DAP methods. Our method, online AI feedback (OAIF), uses an LLM as annotator: on each training iteration, we sample two responses from the current model and prompt the LLM annotator to choose which one is preferred, thus providing online feedback. Despite its simplicity, we demonstrate via human evaluation in several tasks that OAIF outperforms both offline DAP and RLHF methods. We further show that the feedback leveraged in OAIF is easily controllable, via instruction prompts to the LLM annotator.
Large language models (LLMs) have achieved exceptional performance in code generation. However, the performance remains unsatisfactory in generating library-oriented code, especially for the libraries not present in the training data of LLMs. Previous work utilizes API recommendation technology to help LLMs use libraries: it retrieves APIs related to the user requirements, then leverages them as context to prompt LLMs. However, developmental requirements can be coarse-grained, requiring a combination of multiple fine-grained APIs. This granularity inconsistency makes API recommendation a challenging task. To address this, we propose CAPIR (Compositional API Recommendation), which adopts a "divide-and-conquer" strategy to recommend APIs for coarse-grained requirements. Specifically, CAPIR employs an LLM-based Decomposer to break down a coarse-grained task description into several detailed subtasks. Then, CAPIR applies an embedding-based Retriever to identify relevant APIs corresponding to each subtask. Moreover, CAPIR leverages an LLM-based Reranker to filter out redundant APIs and provides the final recommendation. To facilitate the evaluation of API recommendation methods on coarse-grained requirements, we present two challenging benchmarks, RAPID (Recommend APIs based on Documentation) and LOCG (Library-Oriented Code Generation). Experimental results on these benchmarks, demonstrate the effectiveness of CAPIR in comparison to existing baselines. Specifically, on RAPID's Torchdata-AR dataset, compared to the state-of-the-art API recommendation approach, CAPIR improves recall@5 from 18.7% to 43.2% and precision@5 from 15.5% to 37.1%. On LOCG's Torchdata-Code dataset, compared to code generation without API recommendation, CAPIR improves pass@100 from 16.0% to 28.0%.
We revisit the well-known Gilbert-Varshamov (GV) bound for constrained systems. In 1991, Kolesnik and Krachkovsky showed that GV bound can be determined via the solution of some optimization problem. Later, Marcus and Roth (1992) modified the optimization problem and improved the GV bound in many instances. In this work, we provide explicit numerical procedures to solve these two optimization problems and hence, compute the bounds. We then show the procedures can be further simplified when we plot the respective curves. In the case where the graph presentation comprise a single state, we provide explicit formulas for both bounds.
Australia is a leading AI nation with strong allies and partnerships. Australia has prioritised robotics, AI, and autonomous systems to develop sovereign capability for the military. Australia commits to Article 36 reviews of all new means and methods of warfare to ensure weapons and weapons systems are operated within acceptable systems of control. Additionally, Australia has undergone significant reviews of the risks of AI to human rights and within intelligence organisations and has committed to producing ethics guidelines and frameworks in Security and Defence. Australia is committed to OECD's values-based principles for the responsible stewardship of trustworthy AI as well as adopting a set of National AI ethics principles. While Australia has not adopted an AI governance framework specifically for Defence; Defence Science has published 'A Method for Ethical AI in Defence' (MEAID) technical report which includes a framework and pragmatic tools for managing ethical and legal risks for military applications of AI.
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.
Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis.
Attention mechanism has been used as an ancillary means to help RNN or CNN. However, the Transformer (Vaswani et al., 2017) recently recorded the state-of-the-art performance in machine translation with a dramatic reduction in training time by solely using attention. Motivated by the Transformer, Directional Self Attention Network (Shen et al., 2017), a fully attention-based sentence encoder, was proposed. It showed good performance with various data by using forward and backward directional information in a sentence. But in their study, not considered at all was the distance between words, an important feature when learning the local dependency to help understand the context of input text. We propose Distance-based Self-Attention Network, which considers the word distance by using a simple distance mask in order to model the local dependency without losing the ability of modeling global dependency which attention has inherent. Our model shows good performance with NLI data, and it records the new state-of-the-art result with SNLI data. Additionally, we show that our model has a strength in long sentences or documents.
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