Mobile manipulators always need to determine feasible base positions prior to carrying out navigation-manipulation tasks. Real-world environments are often cluttered with various furniture, obstacles, and dozens of other objects. Efficiently computing base positions poses a challenge. In this work, we introduce a framework named MoMa-Pos to address this issue. MoMa-Pos first learns to predict a small set of objects that, taken together, would be sufficient for finding base positions using a graph embedding architecture. MoMa-Pos then calculates standing positions by considering furniture structures, robot models, and obstacles comprehensively. We have extensively evaluated the proposed MoMa-Pos across different settings (e.g., environment and algorithm parameters) and with various mobile manipulators. Our empirical results show that MoMa-Pos demonstrates remarkable effectiveness and efficiency in its performance, surpassing the methods in the literature. %, but also is adaptable to cluttered environments and different robot models. Supplementary material can be found at \url{//yding25.com/MoMa-Pos}.
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With the increasing utilization of large language models such as ChatGPT during software development, it has become crucial to verify the quality of code content it generates. Recent studies proposed utilizing ChatGPT as both a developer and tester for multi-agent collaborative software development. The multi-agent collaboration empowers ChatGPT to produce test reports for its generated code, enabling it to self-verify the code content and fix bugs based on these reports. However, these studies did not assess the effectiveness of the generated test reports in validating the code. Therefore, we conduct a comprehensive empirical investigation to evaluate ChatGPT's self-verification capability in code generation, code completion, and program repair. We request ChatGPT to (1) generate correct code and then self-verify its correctness; (2) complete code without vulnerabilities and then self-verify for the presence of vulnerabilities; and (3) repair buggy code and then self-verify whether the bugs are resolved. Our findings on two code generation datasets, one code completion dataset, and two program repair datasets reveal the following observations: (1) ChatGPT often erroneously predicts its generated incorrect code as correct. (2) The self-contradictory hallucinations in ChatGPT's behavior arise. (3) The self-verification capability of ChatGPT can be enhanced by asking the guiding question, which queries whether ChatGPT agrees with assertions about incorrectly generated or repaired code and vulnerabilities in completed code. (4) Using test reports generated by ChatGPT can identify more vulnerabilities in completed code, but the explanations for incorrectly generated code and failed repairs are mostly inaccurate in the test reports. Based on these findings, we provide implications for further research or development using ChatGPT.
Graph Transformers (GTs) such as SAN and GPS are graph processing models that combine Message-Passing GNNs (MPGNNs) with global Self-Attention. They were shown to be universal function approximators, with two reservations: 1. The initial node features must be augmented with certain positional encodings. 2. The approximation is non-uniform: Graphs of different sizes may require a different approximating network. We first clarify that this form of universality is not unique to GTs: Using the same positional encodings, also pure MPGNNs and even 2-layer MLPs are non-uniform universal approximators. We then consider uniform expressivity: The target function is to be approximated by a single network for graphs of all sizes. There, we compare GTs to the more efficient MPGNN + Virtual Node architecture. The essential difference between the two model definitions is in their global computation method -- Self-Attention Vs Virtual Node. We prove that none of the models is a uniform-universal approximator, before proving our main result: Neither model's uniform expressivity subsumes the other's. We demonstrate the theory with experiments on synthetic data. We further augment our study with real-world datasets, observing mixed results which indicate no clear ranking in practice as well.
We study the theory of neural network (NN) from the lens of classical nonparametric regression problems with a focus on NN's ability to adaptively estimate functions with heterogeneous smoothness -- a property of functions in Besov or Bounded Variation (BV) classes. Existing work on this problem requires tuning the NN architecture based on the function spaces and sample size. We consider a "Parallel NN" variant of deep ReLU networks and show that the standard $\ell_2$ regularization is equivalent to promoting the $\ell_p$-sparsity ($0<p<1$) in the coefficient vector of an end-to-end learned function bases, i.e., a dictionary. Using this equivalence, we further establish that by tuning only the regularization factor, such parallel NN achieves an estimation error arbitrarily close to the minimax rates for both the Besov and BV classes. Notably, it gets exponentially closer to minimax optimal as the NN gets deeper. Our research sheds new lights on why depth matters and how NNs are more powerful than kernel methods.
Click-Through Rate (CTR) prediction holds a paramount position in recommender systems. The prevailing ID-based paradigm underperforms in cold-start scenarios due to the skewed distribution of feature frequency. Additionally, the utilization of a single modality fails to exploit the knowledge contained within textual features. Recent efforts have sought to mitigate these challenges by integrating Pre-trained Language Models (PLMs). They design hard prompts to structure raw features into text for each interaction and then apply PLMs for text processing. With external knowledge and reasoning capabilities, PLMs extract valuable information even in cases of sparse interactions. Nevertheless, compared to ID-based models, pure text modeling degrades the efficacy of collaborative filtering, as well as feature scalability and efficiency during both training and inference. To address these issues, we propose \textbf{C}ost-\textbf{E}fficient \textbf{L}anguage Model \textbf{A}lignment (\textbf{CELA}) for CTR prediction. CELA incorporates textual features and language models while preserving the collaborative filtering capabilities of ID-based models. This model-agnostic framework can be equipped with plug-and-play textual features, with item-level alignment enhancing the utilization of external information while maintaining training and inference efficiency. Through extensive offline experiments, CELA demonstrates superior performance compared to state-of-the-art methods. Furthermore, an online A/B test conducted on an industrial App recommender system showcases its practical effectiveness, solidifying the potential for real-world applications of CELA.
In response to rising concerns surrounding the safety, security, and trustworthiness of Generative AI (GenAI) models, practitioners and regulators alike have pointed to AI red-teaming as a key component of their strategies for identifying and mitigating these risks. However, despite AI red-teaming's central role in policy discussions and corporate messaging, significant questions remain about what precisely it means, what role it can play in regulation, and how it relates to conventional red-teaming practices as originally conceived in the field of cybersecurity. In this work, we identify recent cases of red-teaming activities in the AI industry and conduct an extensive survey of relevant research literature to characterize the scope, structure, and criteria for AI red-teaming practices. Our analysis reveals that prior methods and practices of AI red-teaming diverge along several axes, including the purpose of the activity (which is often vague), the artifact under evaluation, the setting in which the activity is conducted (e.g., actors, resources, and methods), and the resulting decisions it informs (e.g., reporting, disclosure, and mitigation). In light of our findings, we argue that while red-teaming may be a valuable big-tent idea for characterizing GenAI harm mitigations, and that industry may effectively apply red-teaming and other strategies behind closed doors to safeguard AI, gestures towards red-teaming (based on public definitions) as a panacea for every possible risk verge on security theater. To move toward a more robust toolbox of evaluations for generative AI, we synthesize our recommendations into a question bank meant to guide and scaffold future AI red-teaming practices.
The Open Radio Access Network (Open RAN) framework, emerging as the cornerstone for Artificial Intelligence (AI)-enabled Sixth-Generation (6G) mobile networks, heralds a transformative shift in radio access network architecture. As the adoption of Open RAN accelerates, ensuring its security becomes critical. The RAN Intelligent Controller (RIC) plays a central role in Open RAN by improving network efficiency and flexibility. Nevertheless, it also brings about potential security risks that need careful scrutiny. Therefore, it is imperative to evaluate the current state of RIC security comprehensively. This assessment is essential to gain a profound understanding of the security considerations associated with RIC. This survey combines a comprehensive analysis of RAN security, tracing its evolution from 2G to 5G, with an in-depth exploration of RIC security, marking the first comprehensive examination of its kind in the literature. Real-world security incidents involving RIC are vividly illustrated, providing practical insights. The study evaluates the security implications of the RIC within the 6G Open RAN context, addressing security vulnerabilities, mitigation strategies, and potential enhancements. It aims to guide stakeholders in the telecom industry toward a secure and dependable telecommunications infrastructure. The article serves as a valuable reference, shedding light on the RIC's crucial role within the broader network infrastructure and emphasizing security's paramount importance. This survey also explores the promising security opportunities that the RIC presents for enhancing network security and resilience in the context of 6G mobile networks. It outlines open issues, lessons learned, and future research directions in the domain of intelligent control in 6G open RAN, facilitating a comprehensive understanding of this dynamic landscape.
Going beyond mere fine-tuning of vision-language models (VLMs), learnable prompt tuning has emerged as a promising, resource-efficient alternative. Despite their potential, effectively learning prompts faces the following challenges: (i) training in a low-shot scenario results in overfitting, limiting adaptability and yielding weaker performance on newer classes or datasets; (ii) prompt-tuning's efficacy heavily relies on the label space, with decreased performance in large class spaces, signaling potential gaps in bridging image and class concepts. In this work, we ask the question if better text semantics can help address these concerns. In particular, we introduce a prompt-tuning method that leverages class descriptions obtained from large language models (LLMs). Our approach constructs part-level description-guided views of both image and text features, which are subsequently aligned to learn more generalizable prompts. Our comprehensive experiments, conducted across 11 benchmark datasets, outperform established methods, demonstrating substantial improvements.
When large language models are aligned via supervised fine-tuning, they may encounter new factual information that was not acquired through pre-training. It is often conjectured that this can teach the model the behavior of hallucinating factually incorrect responses, as the model is trained to generate facts that are not grounded in its pre-existing knowledge. In this work, we study the impact of such exposure to new knowledge on the capability of the fine-tuned model to utilize its pre-existing knowledge. To this end, we design a controlled setup, focused on closed-book QA, where we vary the proportion of the fine-tuning examples that introduce new knowledge. We demonstrate that large language models struggle to acquire new factual knowledge through fine-tuning, as fine-tuning examples that introduce new knowledge are learned significantly slower than those consistent with the model's knowledge. However, we also find that as the examples with new knowledge are eventually learned, they linearly increase the model's tendency to hallucinate. Taken together, our results highlight the risk in introducing new factual knowledge through fine-tuning, and support the view that large language models mostly acquire factual knowledge through pre-training, whereas fine-tuning teaches them to use it more efficiently.
In recent years, large pre-trained Language Models of Code (CodeLMs) have shown promising results on various software engineering tasks. One such task is automatic code update recommendation, which transforms outdated code snippets into their approved and revised counterparts. Although many CodeLM-based approaches have been proposed, claiming high accuracy, their effectiveness and reliability on real-world code update tasks remain questionable. In this paper, we present the first extensive evaluation of state-of-the-art CodeLMs for automatically recommending code updates. We assess their performance on two diverse datasets of paired updated methods, considering factors such as temporal evolution, project specificity, method size, and update complexity. Our results reveal that while CodeLMs perform well in settings that ignore temporal information, they struggle in more realistic time-wise scenarios and generalize poorly to new projects. Furthermore, CodeLM performance decreases significantly for larger methods and more complex updates. Furthermore, we observe that many CodeLM-generated "updates" are actually null, especially in time-wise settings, and meaningful edits remain challenging. Our findings highlight the significant gap between the perceived and actual effectiveness of CodeLMs for real-world code update recommendation and emphasize the need for more research on improving their practicality, robustness, and generalizability.
Compared with cheap addition operation, multiplication operation is of much higher computation complexity. The widely-used convolutions in deep neural networks are exactly cross-correlation to measure the similarity between input feature and convolution filters, which involves massive multiplications between float values. In this paper, we present adder networks (AdderNets) to trade these massive multiplications in deep neural networks, especially convolutional neural networks (CNNs), for much cheaper additions to reduce computation costs. In AdderNets, we take the $\ell_1$-norm distance between filters and input feature as the output response. The influence of this new similarity measure on the optimization of neural network have been thoroughly analyzed. To achieve a better performance, we develop a special back-propagation approach for AdderNets by investigating the full-precision gradient. We then propose an adaptive learning rate strategy to enhance the training procedure of AdderNets according to the magnitude of each neuron's gradient. As a result, the proposed AdderNets can achieve 74.9% Top-1 accuracy 91.7% Top-5 accuracy using ResNet-50 on the ImageNet dataset without any multiplication in convolution layer.
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