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Recently, driven by advancements in Multimodal Large Language Models (MLLMs), Vision Language Action Models (VLAMs) are being proposed to achieve better performance in open-vocabulary scenarios for robotic manipulation tasks. Since manipulation tasks involve direct interaction with the physical world, ensuring robustness and safety during the execution of this task is always a very critical issue. In this paper, by synthesizing current safety research on MLLMs and the specific application scenarios of the manipulation task in the physical world, we comprehensively evaluate VLAMs in the face of potential physical threats. Specifically, we propose the Physical Vulnerability Evaluating Pipeline (PVEP) that can incorporate as many visual modal physical threats as possible for evaluating the physical robustness of VLAMs. The physical threats in PVEP specifically include Out-of-Distribution, Typography-based Visual Prompts, and Adversarial Patch Attacks. By comparing the performance fluctuations of VLAMs before and after being attacked, we provide generalizable Analyses of how VLAMs respond to different physical security threats. Our project page is in this link: //chaducheng.github.io/Manipulat-Facing-Threats/.

Backdoor attacks present a significant threat to the robustness of Federated Learning (FL) due to their stealth and effectiveness. They maintain both the main task of the FL system and the backdoor task simultaneously, causing malicious models to appear statistically similar to benign ones, which enables them to evade detection by existing defense methods. We find that malicious parameters in backdoored models are inactive on the main task, resulting in a significantly large empirical loss during the machine unlearning process on clean inputs. Inspired by this, we propose MASA, a method that utilizes individual unlearning on local models to identify malicious models in FL. To improve the performance of MASA in challenging non-independent and identically distributed (non-IID) settings, we design pre-unlearning model fusion that integrates local models with knowledge learned from other datasets to mitigate the divergence in their unlearning behaviors caused by the non-IID data distributions of clients. Additionally, we propose a new anomaly detection metric with minimal hyperparameters to filter out malicious models efficiently. Extensive experiments on IID and non-IID datasets across six different attacks validate the effectiveness of MASA. To the best of our knowledge, this is the first work to leverage machine unlearning to identify malicious models in FL. Code is available at \url{//github.com/JiiahaoXU/MASA}.

The deployment of Internet of Things (IoT) systems in Defense and National Security faces some limitations that can be addressed with Edge Computing approaches. The Edge Computing and IoT paradigms combined bring potential benefits, since they confront the limitations of traditional centralized cloud computing approaches, which enable easy scalability, real-time applications or mobility support, but whose use poses certain risks in aspects like cybersecurity. This chapter identifies scenarios in which Defense and National Security can leverage Commercial Off-The-Shelf (COTS) Edge IoT capabilities to deliver greater survivability to warfighters or first responders, while lowering costs and increasing operational efficiency and effectiveness. In addition, it presents the general design of a Tactical Edge IoT communications architecture, it identifies the open challenges for a widespread adoption and provides research guidelines and some recommendations for enabling cost-effective Edge IoT for Defense and National Security.

The safe and effective deployment of Large Language Models (LLMs) involves a critical step called alignment, which ensures that the model's responses are in accordance with human preferences. Prevalent alignment techniques, such as DPO, PPO and their variants, align LLMs by changing the pre-trained model weights during a phase called post-training. While predominant, these post-training methods add substantial complexity before LLMs can be deployed. Inference-time alignment methods avoid the complex post-training step and instead bias the generation towards responses that are aligned with human preferences. The best-known inference-time alignment method, called Best-of-N, is as effective as the state-of-the-art post-training procedures. Unfortunately, Best-of-N requires vastly more resources at inference time than standard decoding strategies, which makes it computationally not viable. In this work, we introduce Speculative Rejection, a computationally-viable inference-time alignment algorithm. It generates high-scoring responses according to a given reward model, like Best-of-N does, while being between 16 to 32 times more computationally efficient.

Decision Transformers have recently emerged as a new and compelling paradigm for offline Reinforcement Learning (RL), completing a trajectory in an autoregressive way. While improvements have been made to overcome initial shortcomings, online finetuning of decision transformers has been surprisingly under-explored. The widely adopted state-of-the-art Online Decision Transformer (ODT) still struggles when pretrained with low-reward offline data. In this paper, we theoretically analyze the online-finetuning of the decision transformer, showing that the commonly used Return-To-Go (RTG) that's far from the expected return hampers the online fine-tuning process. This problem, however, is well-addressed by the value function and advantage of standard RL algorithms. As suggested by our analysis, in our experiments, we hence find that simply adding TD3 gradients to the finetuning process of ODT effectively improves the online finetuning performance of ODT, especially if ODT is pretrained with low-reward offline data. These findings provide new directions to further improve decision transformers.

In numerous production environments, Approximate Nearest Neighbor Search (ANNS) plays an indispensable role, particularly when dealing with massive datasets that can contain billions of entries. The necessity for rapid response times in these applications makes the efficiency of ANNS algorithms crucial. However, traditional ANNS approaches encounter substantial challenges at the billion-scale level. CPU-based methods are hindered by the limitations of memory bandwidth, while GPU-based methods struggle with memory capacity and resource utilization efficiency. This paper introduces MemANNS, an innovative framework that utilizes UPMEM PIM architecture to address the memory bottlenecks in ANNS algorithms at scale. We concentrate on optimizing a well-known ANNS algorithm, IVFPQ, for PIM hardware through several techniques. First, we introduce an architecture-aware strategy for data placement and query scheduling that ensures an even distribution of workload across PIM chips, thereby maximizing the use of aggregated memory bandwidth. Additionally, we have developed an efficient thread scheduling mechanism that capitalizes on PIM's multi-threading capabilities and enhances memory management to boost cache efficiency. Moreover, we have recognized that real-world datasets often feature vectors with frequently co-occurring items. To address this, we propose a novel encoding method for IVFPQ that minimizes memory accesses during query processing. Our comprehensive evaluation using actual PIM hardware and real-world datasets at the billion-scale, show that MemANNS offers a significant 4.3x increase in QPS over CPU-based Faiss, and it matches the performance of GPU-based Faiss implementations. Additionally, MemANNS improves energy efficiency, with a 2.3x enhancement in QPS/Watt compared to GPU solutions.

We give answer to an argument trying to show the divergence of Assembly Theory from LZ compression. We formally proved that any implementation of the concept of `copy number' underlying Assembly Theory (AT) and its assembly index (Ai) is equivalent to Shannon Entropy and not fundamentally or methodologically different from algorithms like ZIP/PNG via LZ compression. We show that the weak empirical correlation between Ai and LZW, which the authors offered as a defence against the proof that the assembly index calculation method is an LZ scheme, is based on an incomplete and misleading experiment. When the experiment is completed and conducted properly, the asymptotic convergence to LZ compression and Shannon Entropy is evident and aligned with the proof previously offered. Therefore, this completes both the theoretical and empirical demonstrations that any variation of the copy-number concept underlying AT, which resorts to counting the number of object repetitions `to arrive at a measure for life', is equivalent to statistical compression and Shannon Entropy. We demonstrate that the authors' `we-are-better-because-we-are-worse' defence argument against compression does not withstand basic scrutiny, and that their empirical results separating organic from inorganic compounds have not only been previously reported -- sans claims to unify physics and biology -- but are also driven solely by molecular length, nota special feature of life captured by their assembly index. Finally, we show that Ai is a special case of our BDM introduced almost a decade earlier and that arguments attributing special stochastic properties to Ai are misleading, not unique, and exactly the same than those that Shannon Entropy is already not only equipped with but designed for which we have also proven to be equivalent to Ai making AT redundant even in practice when applied to their own experimental data.

Multi-modal AI systems will likely become a ubiquitous presence in our everyday lives. A promising approach to making these systems more interactive is to embody them as agents within physical and virtual environments. At present, systems leverage existing foundation models as the basic building blocks for the creation of embodied agents. Embedding agents within such environments facilitates the ability of models to process and interpret visual and contextual data, which is critical for the creation of more sophisticated and context-aware AI systems. For example, a system that can perceive user actions, human behavior, environmental objects, audio expressions, and the collective sentiment of a scene can be used to inform and direct agent responses within the given environment. To accelerate research on agent-based multimodal intelligence, we define "Agent AI" as a class of interactive systems that can perceive visual stimuli, language inputs, and other environmentally-grounded data, and can produce meaningful embodied action with infinite agent. In particular, we explore systems that aim to improve agents based on next-embodied action prediction by incorporating external knowledge, multi-sensory inputs, and human feedback. We argue that by developing agentic AI systems in grounded environments, one can also mitigate the hallucinations of large foundation models and their tendency to generate environmentally incorrect outputs. The emerging field of Agent AI subsumes the broader embodied and agentic aspects of multimodal interactions. Beyond agents acting and interacting in the physical world, we envision a future where people can easily create any virtual reality or simulated scene and interact with agents embodied within the virtual environment.

Graph Neural Networks (GNNs) are state-of-the-art models for performing prediction tasks on graphs. While existing GNNs have shown great performance on various tasks related to graphs, little attention has been paid to the scenario where out-of-distribution (OOD) nodes exist in the graph during training and inference. Borrowing the concept from CV and NLP, we define OOD nodes as nodes with labels unseen from the training set. Since a lot of networks are automatically constructed by programs, real-world graphs are often noisy and may contain nodes from unknown distributions. In this work, we define the problem of graph learning with out-of-distribution nodes. Specifically, we aim to accomplish two tasks: 1) detect nodes which do not belong to the known distribution and 2) classify the remaining nodes to be one of the known classes. We demonstrate that the connection patterns in graphs are informative for outlier detection, and propose Out-of-Distribution Graph Attention Network (OODGAT), a novel GNN model which explicitly models the interaction between different kinds of nodes and separate inliers from outliers during feature propagation. Extensive experiments show that OODGAT outperforms existing outlier detection methods by a large margin, while being better or comparable in terms of in-distribution classification.

Pre-trained Language Models (PLMs) have achieved great success in various Natural Language Processing (NLP) tasks under the pre-training and fine-tuning paradigm. With large quantities of parameters, PLMs are computation-intensive and resource-hungry. Hence, model pruning has been introduced to compress large-scale PLMs. However, most prior approaches only consider task-specific knowledge towards downstream tasks, but ignore the essential task-agnostic knowledge during pruning, which may cause catastrophic forgetting problem and lead to poor generalization ability. To maintain both task-agnostic and task-specific knowledge in our pruned model, we propose ContrAstive Pruning (CAP) under the paradigm of pre-training and fine-tuning. It is designed as a general framework, compatible with both structured and unstructured pruning. Unified in contrastive learning, CAP enables the pruned model to learn from the pre-trained model for task-agnostic knowledge, and fine-tuned model for task-specific knowledge. Besides, to better retain the performance of the pruned model, the snapshots (i.e., the intermediate models at each pruning iteration) also serve as effective supervisions for pruning. Our extensive experiments show that adopting CAP consistently yields significant improvements, especially in extremely high sparsity scenarios. With only 3% model parameters reserved (i.e., 97% sparsity), CAP successfully achieves 99.2% and 96.3% of the original BERT performance in QQP and MNLI tasks. In addition, our probing experiments demonstrate that the model pruned by CAP tends to achieve better generalization ability.