Trusted execution environments in several existing and upcoming CPUs demonstrate the success of confidential computing, with the caveat that tenants cannot securely use accelerators such as GPUs and FPGAs. In this paper, we reconsider the Arm Confidential Computing Architecture (CCA) design, an upcoming TEE feature in Armv9-A, to address this gap. We observe that CCA offers the right abstraction and mechanisms to allow confidential VMs to use accelerators as a first-class abstraction. We build ACAI, a CCA-based solution, with a principled approach of extending CCA security invariants to device-side access to address several critical security gaps. Our experimental results on GPU and FPGA demonstrate the feasibility of ACAI while maintaining security guarantees.
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Despite significant recent progress in the field of autonomous driving, modern methods still struggle and can incur serious accidents when encountering long-tail unforeseen events and challenging urban scenarios. On the one hand, large language models (LLM) have shown impressive reasoning capabilities that approach "Artificial General Intelligence". On the other hand, previous autonomous driving methods tend to rely on limited-format inputs (e.g. sensor data and navigation waypoints), restricting the vehicle's ability to understand language information and interact with humans. To this end, this paper introduces LMDrive, a novel language-guided, end-to-end, closed-loop autonomous driving framework. LMDrive uniquely processes and integrates multi-modal sensor data with natural language instructions, enabling interaction with humans and navigation software in realistic instructional settings. To facilitate further research in language-based closed-loop autonomous driving, we also publicly release the corresponding dataset which includes approximately 64K instruction-following data clips, and the LangAuto benchmark that tests the system's ability to handle complex instructions and challenging driving scenarios. Extensive closed-loop experiments are conducted to demonstrate LMDrive's effectiveness. To the best of our knowledge, we're the very first work to leverage LLMs for closed-loop end-to-end autonomous driving. Codes can be found at //github.com/opendilab/LMDrive
Recent progress in large language models (LLMs) has demonstrated the ability to learn and leverage Internet-scale knowledge through pre-training with autoregressive models. Unfortunately, applying such models to settings with embodied agents, such as robots, is challenging due to their lack of experience with the physical world, inability to parse non-language observations, and ignorance of rewards or safety constraints that robots may require. On the other hand, language-conditioned robotic policies that learn from interaction data can provide the necessary grounding that allows the agent to be correctly situated in the real world, but such policies are limited by the lack of high-level semantic understanding due to the limited breadth of the interaction data available for training them. Thus, if we want to make use of the semantic knowledge in a language model while still situating it in an embodied setting, we must construct an action sequence that is both likely according to the language model and also realizable according to grounded models of the environment. We frame this as a problem similar to probabilistic filtering: decode a sequence that both has high probability under the language model and high probability under a set of grounded model objectives. We demonstrate how such grounded models can be obtained across three simulation and real-world domains, and that the proposed decoding strategy is able to solve complex, long-horizon embodiment tasks in a robotic setting by leveraging the knowledge of both models. The project's website can be found at grounded-decoding.github.io.
Irregular repetition slotted Aloha (IRSA) has shown significant advantages as a modern technique for uncoordinated random access with massive number of users due to its capability of achieving theoretically a throughput of $1$ packet per slot. When the receiver has also the multi-packet reception of multi-user (MUD) detection property, by applying successive interference cancellation, IRSA also obtains very low packet loss probabilities at low traffic loads, but is unable in general to achieve a normalized throughput close to the $1$. In this paper, we reconsider the case of IRSA with $k$-MUD receivers and derive the general density evolution equations for the non-asymptotic analysis of the packet loss rate, for arbitrary frame lengths and two variants of the first slot used for transmission. Next, using the potential function, we give new capacity bounds on the capacity of the system, showing the threshold arrival rate for zero decoding error probability. Our numerical results illustrate performance in terms of throughput and average delay for $k$-MUD IRSA with finite memory at the receiver, and also with bounded maximum delay.
We present NovaCOMET, an open commonsense knowledge model, that combines the best aspects of knowledge and general task models. Compared to previous knowledge models, NovaCOMET allows open-format relations enabling direct application to reasoning tasks; compared to general task models like Flan-T5, it explicitly centers knowledge, enabling superior performance for commonsense reasoning. NovaCOMET leverages the knowledge of opaque proprietary models to create an open knowledge pipeline. First, knowledge is symbolically distilled into NovATOMIC, a publicly-released discrete knowledge graph which can be audited, critiqued, and filtered. Next, we train NovaCOMET on NovATOMIC by fine-tuning an open-source pretrained model. NovaCOMET uses an open-format training objective, replacing the fixed relation sets of past knowledge models, enabling arbitrary structures within the data to serve as inputs or outputs. The resulting generation model, optionally augmented with human annotation, matches or exceeds comparable open task models like Flan-T5 on a range of commonsense generation tasks. NovaCOMET serves as a counterexample to the contemporary focus on instruction tuning only, demonstrating a distinct advantage to explicitly modeling commonsense knowledge as well.
We present DARLEI, a framework that combines evolutionary algorithms with parallelized reinforcement learning for efficiently training and evolving populations of UNIMAL agents. Our approach utilizes Proximal Policy Optimization (PPO) for individual agent learning and pairs it with a tournament selection-based generational learning mechanism to foster morphological evolution. By building on Nvidia's Isaac Gym, DARLEI leverages GPU accelerated simulation to achieve over 20x speedup using just a single workstation, compared to previous work which required large distributed CPU clusters. We systematically characterize DARLEI's performance under various conditions, revealing factors impacting diversity of evolved morphologies. For example, by enabling inter-agent collisions within the simulator, we find that we can simulate some multi-agent interactions between the same morphology, and see how it influences individual agent capabilities and long-term evolutionary adaptation. While current results demonstrate limited diversity across generations, we hope to extend DARLEI in future work to include interactions between diverse morphologies in richer environments, and create a platform that allows for coevolving populations and investigating emergent behaviours in them. Our source code is also made publicly at //saeejithnair.github.io/darlei.
Recent advances in deep learning, and especially the invention of encoder-decoder architectures, has significantly improved the performance of abstractive summarization systems. The majority of research has focused on written documents, however, neglecting the problem of multi-party dialogue summarization. In this paper, we present a dataset of French political debates for the purpose of enhancing resources for multi-lingual dialogue summarization. Our dataset consists of manually transcribed and annotated political debates, covering a range of topics and perspectives. We highlight the importance of high quality transcription and annotations for training accurate and effective dialogue summarization models, and emphasize the need for multilingual resources to support dialogue summarization in non-English languages. We also provide baseline experiments using state-of-the-art methods, and encourage further research in this area to advance the field of dialogue summarization. Our dataset will be made publicly available for use by the research community.
Following unprecedented success on the natural language tasks, Transformers have been successfully applied to several computer vision problems, achieving state-of-the-art results and prompting researchers to reconsider the supremacy of convolutional neural networks (CNNs) as {de facto} operators. Capitalizing on these advances in computer vision, the medical imaging field has also witnessed growing interest for Transformers that can capture global context compared to CNNs with local receptive fields. Inspired from this transition, in this survey, we attempt to provide a comprehensive review of the applications of Transformers in medical imaging covering various aspects, ranging from recently proposed architectural designs to unsolved issues. Specifically, we survey the use of Transformers in medical image segmentation, detection, classification, reconstruction, synthesis, registration, clinical report generation, and other tasks. In particular, for each of these applications, we develop taxonomy, identify application-specific challenges as well as provide insights to solve them, and highlight recent trends. Further, we provide a critical discussion of the field's current state as a whole, including the identification of key challenges, open problems, and outlining promising future directions. We hope this survey will ignite further interest in the community and provide researchers with an up-to-date reference regarding applications of Transformer models in medical imaging. Finally, to cope with the rapid development in this field, we intend to regularly update the relevant latest papers and their open-source implementations at \url{//github.com/fahadshamshad/awesome-transformers-in-medical-imaging}.
Learning disentanglement aims at finding a low dimensional representation which consists of multiple explanatory and generative factors of the observational data. The framework of variational autoencoder (VAE) is commonly used to disentangle independent factors from observations. However, in real scenarios, factors with semantics are not necessarily independent. Instead, there might be an underlying causal structure which renders these factors dependent. We thus propose a new VAE based framework named CausalVAE, which includes a Causal Layer to transform independent exogenous factors into causal endogenous ones that correspond to causally related concepts in data. We further analyze the model identifiabitily, showing that the proposed model learned from observations recovers the true one up to a certain degree. Experiments are conducted on various datasets, including synthetic and real word benchmark CelebA. Results show that the causal representations learned by CausalVAE are semantically interpretable, and their causal relationship as a Directed Acyclic Graph (DAG) is identified with good accuracy. Furthermore, we demonstrate that the proposed CausalVAE model is able to generate counterfactual data through "do-operation" to the causal factors.
We present Emu, a system that semantically enhances multilingual sentence embeddings. Our framework fine-tunes pre-trained multilingual sentence embeddings using two main components: a semantic classifier and a language discriminator. The semantic classifier improves the semantic similarity of related sentences, whereas the language discriminator enhances the multilinguality of the embeddings via multilingual adversarial training. Our experimental results based on several language pairs show that our specialized embeddings outperform the state-of-the-art multilingual sentence embedding model on the task of cross-lingual intent classification using only monolingual labeled data.
Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.
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