The advances in the Neural Radiance Fields (NeRF) research offer extensive applications in diverse domains, but protecting their copyrights has not yet been researched in depth. Recently, NeRF watermarking has been considered one of the pivotal solutions for safely deploying NeRF-based 3D representations. However, existing methods are designed to apply only to implicit or explicit NeRF representations. In this work, we introduce an innovative watermarking method that can be employed in both representations of NeRF. This is achieved by fine-tuning NeRF to embed binary messages in the rendering process. In detail, we propose utilizing the discrete wavelet transform in the NeRF space for watermarking. Furthermore, we adopt a deferred back-propagation technique and introduce a combination with the patch-wise loss to improve rendering quality and bit accuracy with minimum trade-offs. We evaluate our method in three different aspects: capacity, invisibility, and robustness of the embedded watermarks in the 2D-rendered images. Our method achieves state-of-the-art performance with faster training speed over the compared state-of-the-art methods.
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Advancements in generative AI have broadened the potential applications of Large Language Models (LLMs) in the development of autonomous agents. Achieving true autonomy requires accumulating and updating knowledge gained from interactions with the environment and effectively utilizing it. Current LLM-based approaches leverage past experiences using a full history of observations, summarization or retrieval augmentation. However, these unstructured memory representations do not facilitate the reasoning and planning essential for complex decision-making. In our study, we introduce AriGraph, a novel method wherein the agent constructs a memory graph that integrates semantic and episodic memories while exploring the environment. This graph structure facilitates efficient associative retrieval of interconnected concepts, relevant to the agent's current state and goals, thus serving as an effective environmental model that enhances the agent's exploratory and planning capabilities. We demonstrate that our Ariadne LLM agent, equipped with this proposed memory architecture augmented with planning and decision-making, effectively handles complex tasks on a zero-shot basis in the TextWorld environment. Our approach markedly outperforms established methods such as full-history, summarization, and Retrieval-Augmented Generation in various tasks, including the cooking challenge from the First TextWorld Problems competition and novel tasks like house cleaning and puzzle Treasure Hunting.
The next generation of machine learning systems must be adept at perceiving and interacting with the physical world through a diverse array of sensory channels. Commonly referred to as the `Internet of Things (IoT)' ecosystem, sensory data from motion, thermal, geolocation, depth, wireless signals, video, and audio are increasingly used to model the states of physical environments and the humans inside them. Despite the potential for understanding human wellbeing, controlling physical devices, and interconnecting smart cities, the community has seen limited benchmarks for building machine learning systems for IoT. Existing efforts are often specialized to a single sensory modality or prediction task, which makes it difficult to study and train large-scale models across many IoT sensors and tasks. To accelerate the development of new machine learning technologies for IoT, this paper proposes MultiIoT, the most expansive and unified IoT benchmark to date, encompassing over 1.15 million samples from 12 modalities and 8 real-world tasks. MultiIoT introduces unique challenges involving (1) generalizable learning from many sensory modalities, (2) multimodal interactions across long temporal ranges, (3) extreme heterogeneity due to unique structure and noise topologies in real-world sensors, and (4) complexity during training and inference. We evaluate a comprehensive set of models on MultiIoT, including modality and task-specific methods, multisensory and multitask supervised models, and large multisensory foundation models. Our results highlight opportunities for ML to make a significant impact in IoT, but many challenges in scalable learning from heterogeneous, long-range, and imperfect sensory modalities still persist. We release all code and data to accelerate future research in machine learning for IoT.
The rapid adoption of machine learning (ML) has underscored the importance of serving ML models with high throughput and resource efficiency. Traditional approaches to managing increasing query demands have predominantly focused on hardware scaling, which involves increasing server count or computing power. However, this strategy can often be impractical due to limitations in the available budget or compute resources. As an alternative, accuracy scaling offers a promising solution by adjusting the accuracy of ML models to accommodate fluctuating query demands. Yet, existing accuracy scaling techniques target independent ML models and tend to underperform while managing inference pipelines. Furthermore, they lack integration with hardware scaling, leading to potential resource inefficiencies during low-demand periods. To address the limitations, this paper introduces Loki, a system designed for serving inference pipelines effectively with both hardware and accuracy scaling. Loki incorporates an innovative theoretical framework for optimal resource allocation and an effective query routing algorithm, aimed at improving system accuracy and minimizing latency deadline violations. Our empirical evaluation demonstrates that through accuracy scaling, the effective capacity of a fixed-size cluster can be enhanced by more than $2.7\times$ compared to relying solely on hardware scaling. When compared with state-of-the-art inference-serving systems, Loki achieves up to a $10\times$ reduction in Service Level Objective (SLO) violations, with minimal compromises on accuracy and while fulfilling throughput demands.
We present a new approach for Neural Optimal Transport (NOT) training procedure, capable of accurately and efficiently estimating optimal transportation plan via specific regularization on dual Kantorovich potentials. The main bottleneck of existing NOT solvers is associated with the procedure of finding a near-exact approximation of the conjugate operator (i.e., the c-transform), which is done either by optimizing over non-convex max-min objectives or by the computationally intensive fine-tuning of the initial approximated prediction. We resolve both issues by proposing a new, theoretically justified loss in the form of expectile regularisation which enforces binding conditions on the learning process of dual potentials. Such a regularization provides the upper bound estimation over the distribution of possible conjugate potentials and makes the learning stable, completely eliminating the need for additional extensive fine-tuning. Proposed method, called Expectile-Regularised Neural Optimal Transport (ENOT), outperforms previous state-of-the-art approaches on the established Wasserstein-2 benchmark tasks by a large margin (up to a 3-fold improvement in quality and up to a 10-fold improvement in runtime). Moreover, we showcase performance of ENOT for varying cost functions on different tasks such as image generation, showing robustness of proposed algorithm. OTT-JAX library includes our implementation of ENOT algorithm //ott-jax.readthedocs.io/en/latest/tutorials/ENOT.html
This study explores the application of self-supervised learning techniques for event sequences. It is a key modality in various applications such as banking, e-commerce, and healthcare. However, there is limited research on self-supervised learning for event sequences, and methods from other domains like images, texts, and speech may not easily transfer. To determine the most suitable approach, we conduct a detailed comparative analysis of previously identified best-performing methods. We find that neither the contrastive nor generative method is superior. Our assessment includes classifying event sequences, predicting the next event, and evaluating embedding quality. These results further highlight the potential benefits of combining both methods. Given the lack of research on hybrid models in this domain, we initially adapt the baseline model from another domain. However, upon observing its underperformance, we develop a novel method called the Multimodal-Learning Event Model (MLEM). MLEM treats contrastive learning and generative modeling as distinct yet complementary modalities, aligning their embeddings. The results of our study demonstrate that combining contrastive and generative approaches into one procedure with MLEM achieves superior performance across multiple metrics.
The proliferation of Knowledge Graphs (KGs) that support a wide variety of applications, like entity search, question answering and recommender systems, has led to the need for identifying overlapping information among different KGs. Entity Alignment (EA) is the problem of detecting such overlapping information among KGs that refer to the same real-world entities. Recent works have shown a great potential in exploiting KG embeddings for the task of EA, with most works focusing on the structural representation of entities (i.e., entity neighborhoods) in a KG and some works also exploiting the available factual information of entities (e.g., their names and associated literal values). However, real-word KGs exhibit high levels of structural and semantic heterogeneity, making EA a challenging task in which most existing methods struggle to achieve good results. In this work, we propose HybEA, an open-source EA method that focuses on both structure and facts, using two separate attention-based models. Our experimental results show that HybEA outperforms state-of-the-art methods by at least 5% and as much as 20+% (with an average difference of 11+%) Hits@1, in 5 widely used benchmark datasets.
This paper considers a trajectory planning problem for a robot navigating complex terrains, which arises in applications ranging from autonomous mining vehicles to planetary rovers. The problem seeks to find a low-cost dynamically feasible trajectory for the robot. The problem is challenging as it requires solving a non-linear optimization problem that often has many local minima due to the complex terrain. To address the challenge, we propose a method called Pareto-optimal Warm-started Trajectory Optimization (PWTO) that attempts to combine the benefits of graph search and trajectory optimization, two very different approaches to planning. PWTO first creates a state lattice using simplified dynamics of the robot and leverages a multi-objective graph search method to obtain a set of paths. Each of the paths is then used to warm-start a local trajectory optimization process, so that different local minima are explored to find a globally low-cost solution. In our tests, the solution cost computed by PWTO is often less than half of the costs computed by the baselines. In addition, we verify the trajectories generated by PWTO in Gazebo simulation in complex terrains with both wheeled and quadruped robots. The code of this paper is open sourced and can be found at //github.com/rap-lab-org/public_pwto.
We present VeriX, a first step towards verified explainability of machine learning models in safety-critical applications. Specifically, our sound and optimal explanations can guarantee prediction invariance against bounded perturbations. We utilise constraint solving techniques together with feature sensitivity ranking to efficiently compute these explanations. We evaluate our approach on image recognition benchmarks and a real-world scenario of autonomous aircraft taxiing.
In pace with developments in the research field of artificial intelligence, knowledge graphs (KGs) have attracted a surge of interest from both academia and industry. As a representation of semantic relations between entities, KGs have proven to be particularly relevant for natural language processing (NLP), experiencing a rapid spread and wide adoption within recent years. Given the increasing amount of research work in this area, several KG-related approaches have been surveyed in the NLP research community. However, a comprehensive study that categorizes established topics and reviews the maturity of individual research streams remains absent to this day. Contributing to closing this gap, we systematically analyzed 507 papers from the literature on KGs in NLP. Our survey encompasses a multifaceted review of tasks, research types, and contributions. As a result, we present a structured overview of the research landscape, provide a taxonomy of tasks, summarize our findings, and highlight directions for future work.
Deep Learning has implemented a wide range of applications and has become increasingly popular in recent years. The goal of multimodal deep learning is to create models that can process and link information using various modalities. Despite the extensive development made for unimodal learning, it still cannot cover all the aspects of human learning. Multimodal learning helps to understand and analyze better when various senses are engaged in the processing of information. This paper focuses on multiple types of modalities, i.e., image, video, text, audio, body gestures, facial expressions, and physiological signals. Detailed analysis of past and current baseline approaches and an in-depth study of recent advancements in multimodal deep learning applications has been provided. A fine-grained taxonomy of various multimodal deep learning applications is proposed, elaborating on different applications in more depth. Architectures and datasets used in these applications are also discussed, along with their evaluation metrics. Last, main issues are highlighted separately for each domain along with their possible future research directions.
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