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To achieve reliable, robust, and safe AI systems, it is vital to implement fallback strategies when AI predictions cannot be trusted. Certifiers for neural networks are a reliable way to check the robustness of these predictions. They guarantee for some predictions that a certain class of manipulations or attacks could not have changed the outcome. For the remaining predictions without guarantees, the method abstains from making a prediction, and a fallback strategy needs to be invoked, which typically incurs additional costs, can require a human operator, or even fail to provide any prediction. While this is a key concept towards safe and secure AI, we show for the first time that this approach comes with its own security risks, as such fallback strategies can be deliberately triggered by an adversary. In addition to naturally occurring abstains for some inputs and perturbations, the adversary can use training-time attacks to deliberately trigger the fallback with high probability. This transfers the main system load onto the fallback, reducing the overall system's integrity and/or availability. We design two novel availability attacks, which show the practical relevance of these threats. For example, adding 1% poisoned data during training is sufficient to trigger the fallback and hence make the model unavailable for up to 100% of all inputs by inserting the trigger. Our extensive experiments across multiple datasets, model architectures, and certifiers demonstrate the broad applicability of these attacks. An initial investigation into potential defenses shows that current approaches are insufficient to mitigate the issue, highlighting the need for new, specific solutions.

Intelligent transportation systems (ITS) have gained significant attention from various communities, driven by rapid advancements in informational technology. Within the realm of ITS, navigational recommendation systems (RS) play a pivotal role, as users often face diverse path (route) options in such complex urban environments. However, RS is not immune to vulnerabilities, especially when confronted with potential information-based attacks. This study aims to explore the impacts of these cyber threats on RS, explicitly focusing on local targeted information attacks in which the attacker favors certain groups or businesses. We study human behaviors and propose the coordinated incentive-compatible RS that guides users toward a mixed Nash equilibrium, under which each user has no incentive to deviate from the recommendation. Then, we delve into the vulnerabilities within the recommendation process, focusing on scenarios involving misinformed demands. In such cases, the attacker can fabricate fake users to mislead the RS's recommendations. Using the Stackelberg game approach, the analytical results and the numerical case study reveal that RS is susceptible to informational attacks. This study highlights the need to consider informational attacks for a more resilient and effective navigational recommendation.

Due to the unavailability of routing information in design stages prior to detailed routing (DR), the tasks of timing prediction and optimization pose major challenges. Inaccurate timing prediction wastes design effort, hurts circuit performance, and may lead to design failure. This work focuses on timing prediction after clock tree synthesis and placement legalization, which is the earliest opportunity to time and optimize a "complete" netlist. The paper first documents that having "oracle knowledge" of the final post-DR parasitics enables post-global routing (GR) optimization to produce improved final timing outcomes. To bridge the gap between GR-based parasitic and timing estimation and post-DR results during post-GR optimization, machine learning (ML)-based models are proposed, including the use of features for macro blockages for accurate predictions for designs with macros. Based on a set of experimental evaluations, it is demonstrated that these models show higher accuracy than GR-based timing estimation. When used during post-GR optimization, the ML-based models show demonstrable improvements in post-DR circuit performance. The methodology is applied to two different tool flows - OpenROAD and a commercial tool flow - and results on 45nm bulk and 12nm FinFET enablements show improvements in post-DR slack metrics without increasing congestion. The models are demonstrated to be generalizable to designs generated under different clock period constraints and are robust to training data with small levels of noise.

Layered architectures have been widely used in robot systems. The majority of them implement planning and execution functions in separate layers. However, there still lacks a straightforward way to transit high-level tasks in the planning layer to the low-level motor commands in the execution layer. In order to tackle this challenge, we propose a novel approach to ground the manipulator primitive tasks to robot low-level actions using large language models (LLMs). We designed a program-function-like prompt based on the task frame formalism. In this way, we enable LLMs to generate position/force set-points for hybrid control. Evaluations over several state-of-the-art LLMs are provided.

All existing backdoor attacks to deep learning (DL) models belong to the vertical class backdoor (VCB). That is, any sample from a class will activate the implanted backdoor in the presence of the secret trigger, regardless of source-class-agnostic or source-class-specific backdoor. Current trends of existing defenses are overwhelmingly devised for VCB attacks especially the source-class-agnostic backdoor, which essentially neglects other potential simple but general backdoor types, thus giving false security implications. It is thus urgent to discover unknown backdoor types. This work reveals a new, simple, and general horizontal class backdoor (HCB) attack. We show that the backdoor can be naturally bounded with innocuous natural features that are common and pervasive in the real world. Note that an innocuous feature (e.g., expression) is irrelevant to the main task of the model (e.g., recognizing a person from one to another). The innocuous feature spans across classes horizontally but is exhibited by partial samples per class -- satisfying the horizontal class (HC) property. Only when the trigger is concurrently presented with the HC innocuous feature, can the backdoor be effectively activated. Extensive experiments on attacking performance in terms of high attack success rates with tasks of 1) MNIST, 2) facial recognition, 3) traffic sign recognition, and 4) object detection demonstrate that the HCB is highly efficient and effective. We extensively evaluate the HCB evasiveness against a (chronologically) series of 9 influential countermeasures of Fine-Pruning (RAID 18'), STRIP (ACSAC 19'), Neural Cleanse (Oakland 19'), ABS (CCS 19'), Februus (ACSAC 20'), MNTD (Oakland 21'), SCAn (USENIX SEC 21'), MOTH (Oakland 22'), and Beatrix (NDSS 23'), where none of them can succeed even when a simplest trigger is used.

Diffusion models have emerged as a powerful method of generative modeling across a range of fields, capable of producing stunning photo-realistic images from natural language descriptions. However, these models lack explicit control over the 3D structure in the generated images. Consequently, this hinders our ability to obtain detailed 3D annotations for the generated images or to craft instances with specific poses and distances. In this paper, we propose a simple yet effective method that incorporates 3D geometry control into diffusion models. Our method exploits ControlNet, which extends diffusion models by using visual prompts in addition to text prompts. We generate images of the 3D objects taken from 3D shape repositories (e.g., ShapeNet and Objaverse), render them from a variety of poses and viewing directions, compute the edge maps of the rendered images, and use these edge maps as visual prompts to generate realistic images. With explicit 3D geometry control, we can easily change the 3D structures of the objects in the generated images and obtain ground-truth 3D annotations automatically. This allows us to improve a wide range of vision tasks, e.g., classification and 3D pose estimation, in both in-distribution (ID) and out-of-distribution (OOD) settings. We demonstrate the effectiveness of our method through extensive experiments on ImageNet-100, ImageNet-R, PASCAL3D+, ObjectNet3D, and OOD-CV. The results show that our method significantly outperforms existing methods across multiple benchmarks, e.g., 3.8 percentage points on ImageNet-100 using DeiT-B and 3.5 percentage points on PASCAL3D+ & ObjectNet3D using NeMo.

Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to grasp trusses that are stacked in a crate with considerable clutter, which is how they are commonly stored and transported after harvest. The method consists of a deep learning-based vision system to first identify the individual trusses in the crate and then determine a suitable grasping location on the stem. To this end, we have introduced a grasp pose ranking algorithm with online learning capabilities. After selecting the most promising grasp pose, the robot executes a pinch grasp without needing touch sensors or geometric models. Lab experiments with a robotic manipulator equipped with an eye-in-hand RGB-D camera showed a 100% clearance rate when tasked to pick all trusses from a pile. 93% of the trusses were successfully grasped on the first try, while the remaining 7% required more attempts.

Large Language Models (LLMs) have recently been shown to be effective as automatic evaluators with simple prompting and in-context learning. In this work, we assemble 15 LLMs of four different size ranges and evaluate their output responses by preference ranking from the other LLMs as evaluators, such as System Star is better than System Square. We then evaluate the quality of ranking outputs introducing the Cognitive Bias Benchmark for LLMs as Evaluators (CoBBLEr), a benchmark to measure six different cognitive biases in LLM evaluation outputs, such as the Egocentric bias where a model prefers to rank its own outputs highly in evaluation. We find that LLMs are biased text quality evaluators, exhibiting strong indications on our bias benchmark (average of 40% of comparisons across all models) within each of their evaluations that question their robustness as evaluators. Furthermore, we examine the correlation between human and machine preferences and calculate the average Rank-Biased Overlap (RBO) score to be 49.6%, indicating that machine preferences are misaligned with humans. According to our findings, LLMs may still be unable to be utilized for automatic annotation aligned with human preferences. Our project page is at: //minnesotanlp.github.io/cobbler.

A mobile manipulator often finds itself in an application where it needs to take a close-up view before performing a manipulation task. Named this as a coupled active perception and manipulation (CAPM) problem, we model the uncertainty in the perception process and devise a key state/task planning approach that considers reachability conditions as task constraints of both perception and manipulation tasks for the mobile platform. By minimizing the expected energy usage in the body key state planning while satisfying task constraints, our algorithm achieves the best balance between the task success rate and energy usage. We have implemented the algorithm and tested it in both simulation and physical experiments. The results have confirmed that our algorithm has a lower energy consumption compared to a two-stage decoupled approach, while still maintaining a success rate of 100\% for the task.

Graph Convolutional Networks (GCNs) have been widely applied in various fields due to their significant power on processing graph-structured data. Typical GCN and its variants work under a homophily assumption (i.e., nodes with same class are prone to connect to each other), while ignoring the heterophily which exists in many real-world networks (i.e., nodes with different classes tend to form edges). Existing methods deal with heterophily by mainly aggregating higher-order neighborhoods or combing the immediate representations, which leads to noise and irrelevant information in the result. But these methods did not change the propagation mechanism which works under homophily assumption (that is a fundamental part of GCNs). This makes it difficult to distinguish the representation of nodes from different classes. To address this problem, in this paper we design a novel propagation mechanism, which can automatically change the propagation and aggregation process according to homophily or heterophily between node pairs. To adaptively learn the propagation process, we introduce two measurements of homophily degree between node pairs, which is learned based on topological and attribute information, respectively. Then we incorporate the learnable homophily degree into the graph convolution framework, which is trained in an end-to-end schema, enabling it to go beyond the assumption of homophily. More importantly, we theoretically prove that our model can constrain the similarity of representations between nodes according to their homophily degree. Experiments on seven real-world datasets demonstrate that this new approach outperforms the state-of-the-art methods under heterophily or low homophily, and gains competitive performance under homophily.