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Vision-based perception modules are increasingly deployed in many applications, especially autonomous vehicles and intelligent robots. These modules are being used to acquire information about the surroundings and identify obstacles. Hence, accurate detection and classification are essential to reach appropriate decisions and take appropriate and safe actions at all times. Current studies have demonstrated that "printed adversarial attacks", known as physical adversarial attacks, can successfully mislead perception models such as object detectors and image classifiers. However, most of these physical attacks are based on noticeable and eye-catching patterns for generated perturbations making them identifiable/detectable by human eye or in test drives. In this paper, we propose a camera-based inconspicuous adversarial attack (\textbf{AdvRain}) capable of fooling camera-based perception systems over all objects of the same class. Unlike mask based fake-weather attacks that require access to the underlying computing hardware or image memory, our attack is based on emulating the effects of a natural weather condition (i.e., Raindrops) that can be printed on a translucent sticker, which is externally placed over the lens of a camera. To accomplish this, we provide an iterative process based on performing a random search aiming to identify critical positions to make sure that the performed transformation is adversarial for a target classifier. Our transformation is based on blurring predefined parts of the captured image corresponding to the areas covered by the raindrop. We achieve a drop in average model accuracy of more than $45\%$ and $40\%$ on VGG19 for ImageNet and Resnet34 for Caltech-101, respectively, using only $20$ raindrops.

Long-range context modeling is crucial to both dialogue understanding and generation. The most popular method for dialogue context representation is to concatenate the last-$k$ utterances in chronological order. However, this method may not be ideal for conversations containing long-range dependencies, i.e., when there is a need to look beyond last-$k$ utterances to generate a meaningful response. In this work, we propose DialoGen, a novel encoder-decoder based framework for dialogue generation with a generalized context representation that can look beyond the last-$k$ utterances. The main idea of our approach is to identify and utilize the most relevant historical utterances instead of last-$k$, which also enables the compact representation of dialogue history with fewer tokens. We study the effectiveness of our proposed method on both dialogue generation (open-domain) and understanding (DST). Even with a compact context representation, DialoGen performs comparably to the state-of-the-art models on the open-domain DailyDialog dataset. We observe a similar behavior on the DST task of the MultiWOZ dataset when the proposed context representation is applied to existing DST models. We also discuss the generalizability and interpretability of DialoGen and show that the relevance score of previous utterances agrees well with human cognition.

The process of log parsing, which converts log messages into structured formats, is a crucial step for various log analysis tasks. Although numerous log parsers have been proposed, their effectiveness on complex log data is often hindered due to reliance on human-made rules or learning-based models with limited training data. The recent rise of powerful large language models (LLMs) shows potential for log parsing due to their extensive pre-trained knowledge related to code and logging. However, their accuracy is currently limited due to the lack of specialized log parsing capabilities. Additionally, the inconsistency of their answers and significant overhead obstruct the practical implementation of LLM-based log parsing. To tackle these challenges, we introduce LLMParser, the first practical LLM-based log parsing framework. LLMParser enables accurate and robust log parsing by leveraging the in-context learning (ICL) capability of the LLM, employing a hierarchical candidate sampling algorithm, and selecting high-quality demonstrations. LLMParser also includes a novel adaptive parsing cache component to store and refine the templates generated by the LLM. This design aids in addressing the inefficiency of LLMs by rapid matching to previously parsed log templates. LLMParser also adaptively updates the templates in the parsing cache to ensure consistent parsed results. Extensive evaluation on large-scale public datasets demonstrates that LLMParser surpasses the state-of-the-art methods. Furthermore, LLMParser significantly reduces the query times to LLMs, achieving efficiency comparable to the most efficient baseline, Drain.

Planning for many manipulation tasks, such as using tools or assembling parts, often requires both symbolic and geometric reasoning. Task and Motion Planning (TAMP) algorithms typically solve these problems by conducting a tree search over high-level task sequences while checking for kinematic and dynamic feasibility. While performant, most existing algorithms are highly inefficient as their time complexity grows exponentially with the number of possible actions and objects. Additionally, they only find a single solution to problems in which many feasible plans may exist. To address these limitations, we propose a novel algorithm called Stein Task and Motion Planning (STAMP) that leverages parallelization and differentiable simulation to efficiently search for multiple diverse plans. STAMP relaxes discrete-and-continuous TAMP problems into continuous optimization problems that can be solved using variational inference. Our algorithm builds upon Stein Variational Gradient Descent, a gradient-based variational inference algorithm, and parallelized differentiable physics simulators on the GPU to efficiently obtain gradients for inference. Further, we employ imitation learning to introduce action abstractions that reduce the inference problem to lower dimensions. We demonstrate our method on two TAMP problems and empirically show that STAMP is able to: 1) produce multiple diverse plans in parallel; and 2) search for plans more efficiently compared to existing TAMP baselines.

Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and communication delays. Some approaches tackle these issues reactively at the control stage. However, regardless of the controller, online motion execution can only be as robust as the system capabilities allow at any given state. This is why it is important to have good motion plans to begin with, where robustness is considered proactively. To this end, we propose a metric (derived from first principles) for representing robustness against external disturbances. We then use this metric within our trajectory optimization framework for solving complex loco-manipulation tasks. Through our experiments, we show that trajectories generated using our approach can resist a greater range of forces originating from any possible direction. By using our method, we can compute trajectories that solve tasks as effectively as before, with the added benefit of being able to counteract stronger disturbances in worst-case scenarios.

As the workforce settles into flexible work arrangements, researchers have focused on the collaborative and psychological consequences of the shift. While nearly a fifth of the world's population is estimated to be neurodivergent, the implications of remote collaboration on the cognitive, sensory, and socio-affective experiences of autistic workers are poorly understood. Prior literature suggests that information and communication technologies (ICTs) introduce major psychological stressors. Theoretically, these stressors ought to be exceptionally straining considering autistic traits $\unicode{x2013}$ yet, studies describe a strong attraction to ICTs. We thus ask: how do digital technologies alleviate autistic workers' experiences of their collaborative work environment? Thirty-three interviews were conducted to address this question. Findings suggest that digital media present capabilities that filter input from the environment, turning it into a virtual stage that lets workers "time out". The resulting "technorelief" enables autistic workers to tune into their perceptions and regain control of their collaborative experiences.

We introduce SEED, an LLM-centric system that allows users to easily create efficient, and effective data management applications. SEED comprises three main components: code generation, model generation, and augmented LLM query to address the challenges that LLM services are computationally and economically expensive and do not always work well on all cases for a given data management task. SEED addresses the expense challenge by localizing LLM computation as much as possible. This includes replacing most of LLM calls with local code, local models, and augmenting LLM queries with batching and data access tools, etc. To ensure effectiveness, SEED features a bunch of optimization techniques to enhance the localized solution and the LLM queries, including automatic code validation, code ensemble, model representatives selection, selective tool usages, etc. Moreover, with SEED users are able to easily construct a data management solution customized to their applications. It allows the users to configure each component and compose an execution pipeline in natural language. SEED then automatically compiles it into an executable program. We showcase the efficiency and effectiveness of SEED using diverse data management tasks such as data imputation, NL2SQL translation, etc., achieving state-of-the-art few-shot performance while significantly reducing the number of required LLM calls.

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.

With the capability of modeling bidirectional contexts, denoising autoencoding based pretraining like BERT achieves better performance than pretraining approaches based on autoregressive language modeling. However, relying on corrupting the input with masks, BERT neglects dependency between the masked positions and suffers from a pretrain-finetune discrepancy. In light of these pros and cons, we propose XLNet, a generalized autoregressive pretraining method that (1) enables learning bidirectional contexts by maximizing the expected likelihood over all permutations of the factorization order and (2) overcomes the limitations of BERT thanks to its autoregressive formulation. Furthermore, XLNet integrates ideas from Transformer-XL, the state-of-the-art autoregressive model, into pretraining. Empirically, XLNet outperforms BERT on 20 tasks, often by a large margin, and achieves state-of-the-art results on 18 tasks including question answering, natural language inference, sentiment analysis, and document ranking.

To provide more accurate, diverse, and explainable recommendation, it is compulsory to go beyond modeling user-item interactions and take side information into account. Traditional methods like factorization machine (FM) cast it as a supervised learning problem, which assumes each interaction as an independent instance with side information encoded. Due to the overlook of the relations among instances or items (e.g., the director of a movie is also an actor of another movie), these methods are insufficient to distill the collaborative signal from the collective behaviors of users. In this work, we investigate the utility of knowledge graph (KG), which breaks down the independent interaction assumption by linking items with their attributes. We argue that in such a hybrid structure of KG and user-item graph, high-order relations --- which connect two items with one or multiple linked attributes --- are an essential factor for successful recommendation. We propose a new method named Knowledge Graph Attention Network (KGAT) which explicitly models the high-order connectivities in KG in an end-to-end fashion. It recursively propagates the embeddings from a node's neighbors (which can be users, items, or attributes) to refine the node's embedding, and employs an attention mechanism to discriminate the importance of the neighbors. Our KGAT is conceptually advantageous to existing KG-based recommendation methods, which either exploit high-order relations by extracting paths or implicitly modeling them with regularization. Empirical results on three public benchmarks show that KGAT significantly outperforms state-of-the-art methods like Neural FM and RippleNet. Further studies verify the efficacy of embedding propagation for high-order relation modeling and the interpretability benefits brought by the attention mechanism.