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Deepfakes have recently raised significant trust issues and security concerns among the public. Compared to CNN face forgery detectors, ViT-based methods take advantage of the expressivity of transformers, achieving superior detection performance. However, these approaches still exhibit the following limitations: (1). Fully fine-tuning ViT-based models from ImageNet weights demands substantial computational and storage resources; (2). ViT-based methods struggle to capture local forgery clues, leading to model bias and limited generalizability. To tackle these challenges, this work introduces Mixture-of-Experts modules for Face Forgery Detection (MoE-FFD), a generalized yet parameter-efficient ViT-based approach. MoE-FFD only updates lightweight Low-Rank Adaptation (LoRA) and Adapter layers while keeping the ViT backbone frozen, thereby achieving parameter-efficient training. Moreover, MoE-FFD leverages the expressivity of transformers and local priors of CNNs to simultaneously extract global and local forgery clues. Additionally, novel MoE modules are designed to scale the model's capacity and select optimal forgery experts, further enhancing forgery detection performance. The proposed MoE learning scheme can be seamlessly adapted to various transformer backbones in a plug-and-play manner. Extensive experimental results demonstrate that the proposed method achieves state-of-the-art face forgery detection performance with reduced parameter overhead. The code will be released upon acceptance.

Over the past two decades, research in the field of Simultaneous Localization and Mapping (SLAM) has undergone a significant evolution, highlighting its critical role in enabling autonomous exploration of unknown environments. This evolution ranges from hand-crafted methods, through the era of deep learning, to more recent developments focused on Neural Radiance Fields (NeRFs) and 3D Gaussian Splatting (3DGS) representations. Recognizing the growing body of research and the absence of a comprehensive survey on the topic, this paper aims to provide the first comprehensive overview of SLAM progress through the lens of the latest advancements in radiance fields. It sheds light on the background, evolutionary path, inherent strengths and limitations, and serves as a fundamental reference to highlight the dynamic progress and specific challenges.

With the rise of Transformer models in NLP and CV domain, Multi-Head Attention has been proven to be a game-changer. However, its expensive computation poses challenges to the model throughput and efficiency, especially for the long sequence tasks. Exploiting the sparsity in attention has been proven to be an effective way to reduce computation. Nevertheless, prior works do not consider the various distributions among different heads and lack a systematic method to determine the threshold. To address these challenges, we propose Low-Precision Approximate Attention with Head-wise Trainable Threshold for Efficient Transformer (LATTE). LATTE employs a headwise threshold-based filter with the low-precision dot product and computation reuse mechanism to reduce the computation of MHA. Moreover, the trainable threshold is introduced to provide a systematic method for adjusting the thresholds and enable end-to-end optimization. Experimental results indicate LATTE can smoothly adapt to both NLP and CV tasks, offering significant computation savings with only a minor compromise in performance. Also, the trainable threshold is shown to be essential for the leverage between the performance and the computation. As a result, LATTE filters up to 85.16% keys with only a 0.87% accuracy drop in the CV task and 89.91% keys with a 0.86 perplexity increase in the NLP task.

Semantic segmentation is an effective way to perform scene understanding. Recently, segmentation in 3D Bird's Eye View (BEV) space has become popular as its directly used by drive policy. However, there is limited work on BEV segmentation for surround-view fisheye cameras, commonly used in commercial vehicles. As this task has no real-world public dataset and existing synthetic datasets do not handle amodal regions due to occlusion, we create a synthetic dataset using the Cognata simulator comprising diverse road types, weather, and lighting conditions. We generalize the BEV segmentation to work with any camera model; this is useful for mixing diverse cameras. We implement a baseline by applying cylindrical rectification on the fisheye images and using a standard LSS-based BEV segmentation model. We demonstrate that we can achieve better performance without undistortion, which has the adverse effects of increased runtime due to pre-processing, reduced field-of-view, and resampling artifacts. Further, we introduce a distortion-aware learnable BEV pooling strategy that is more effective for the fisheye cameras. We extend the model with an occlusion reasoning module, which is critical for estimating in BEV space. Qualitative performance of DaF-BEVSeg is showcased in the video at //streamable.com/ge4v51.

Motivated by Q-learning, we study nonsmooth contractive stochastic approximation (SA) with constant stepsize. We focus on two important classes of dynamics: 1) nonsmooth contractive SA with additive noise, and 2) synchronous and asynchronous Q-learning, which features both additive and multiplicative noise. For both dynamics, we establish weak convergence of the iterates to a stationary limit distribution in Wasserstein distance. Furthermore, we propose a prelimit coupling technique for establishing steady-state convergence and characterize the limit of the stationary distribution as the stepsize goes to zero. Using this result, we derive that the asymptotic bias of nonsmooth SA is proportional to the square root of the stepsize, which stands in sharp contrast to smooth SA. This bias characterization allows for the use of Richardson-Romberg extrapolation for bias reduction in nonsmooth SA.

Due to its advantages in resource constraint scenarios, Split Federated Learning (SFL) is promising in AIoT systems. However, due to data heterogeneity and stragglers, SFL suffers from the challenges of low inference accuracy and low efficiency. To address these issues, this paper presents a novel SFL approach, named Sliding Split Federated Learning (S$^2$FL), which adopts an adaptive sliding model split strategy and a data balance-based training mechanism. By dynamically dispatching different model portions to AIoT devices according to their computing capability, S$^2$FL can alleviate the low training efficiency caused by stragglers. By combining features uploaded by devices with different data distributions to generate multiple larger batches with a uniform distribution for back-propagation, S$^2$FL can alleviate the performance degradation caused by data heterogeneity. Experimental results demonstrate that, compared to conventional SFL, S$^2$FL can achieve up to 16.5\% inference accuracy improvement and 3.54X training acceleration.

There is increasing interest in the adoption of LLMs in HCI research. However, LLMs may often be regarded as a panacea because of their powerful capabilities with an accompanying oversight on whether they are suitable for their intended tasks. We contend that LLMs should be adopted in a critical manner following rigorous evaluation. Accordingly, we present the evaluation of an LLM in identifying logical fallacies that will form part of a digital misinformation intervention. By comparing to a labeled dataset, we found that GPT-4 achieves an accuracy of 0.79, and for our intended use case that excludes invalid or unidentified instances, an accuracy of 0.90. This gives us the confidence to proceed with the application of the LLM while keeping in mind the areas where it still falls short. The paper describes our evaluation approach, results and reflections on the use of the LLM for our intended task.

Learning from Demonstration (LfD) is a promising approach to enable Multi-Robot Systems (MRS) to acquire complex skills and behaviors. However, the intricate interactions and coordination challenges in MRS pose significant hurdles for effective LfD. In this paper, we present a novel LfD framework specifically designed for MRS, which leverages visual demonstrations to capture and learn from robot-robot and robot-object interactions. Our framework introduces the concept of Interaction Keypoints (IKs) to transform the visual demonstrations into a representation that facilitates the inference of various skills necessary for the task. The robots then execute the task using sensorimotor actions and reinforcement learning (RL) policies when required. A key feature of our approach is the ability to handle unseen contact-based skills that emerge during the demonstration. In such cases, RL is employed to learn the skill using a classifier-based reward function, eliminating the need for manual reward engineering and ensuring adaptability to environmental changes. We evaluate our framework across a range of mobile robot tasks, covering both behavior-based and contact-based domains. The results demonstrate the effectiveness of our approach in enabling robots to learn complex multi-robot tasks and behaviors from visual demonstrations.

This article presents the affordances that Generative Artificial Intelligence can have in disinformation context, one of the major threats to our digitalized society. We present a research framework to generate customized agent-based social networks for disinformation simulations that would enable understanding and evaluation of the phenomena whilst discussing open challenges.