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Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in environments where understanding and acting on implicit human intentions are crucial. In this study, we introduce a novel task: reasoning grasping, where robots need to generate grasp poses based on indirect verbal instructions or intentions. To accomplish this, we propose an end-to-end reasoning grasping model that integrates a multi-modal Large Language Model (LLM) with a vision-based robotic grasping framework. In addition, we present the first reasoning grasping benchmark dataset generated from the GraspNet-1 billion, incorporating implicit instructions for object-level and part-level grasping, and this dataset will soon be available for public access. Our results show that directly integrating CLIP or LLaVA with the grasp detection model performs poorly on the challenging reasoning grasping tasks, while our proposed model demonstrates significantly enhanced performance both in the reasoning grasping benchmark and real-world experiments.

For robustness toward model misspecification, the generalized posterior inference approach modifies the likelihood term by raising it to the power of a learning rate, thereby adjusting the spread of the posterior. This paper proposes a computationally efficient strategy for selecting an appropriate learning rate. The proposed approach builds upon the generalized posterior calibration (GPC) algorithm introduced by Syring and Martin (2019) [Biometrika, Volume 106, Issue 2, pp. 479-486], which is designed to select the learning rate to achieve the nominal frequentist coverage. This algorithm, which evaluates the coverage probability based on bootstrap samples, suffers from high computational costs due to the need for repeated posterior simulations for bootstrap samples. To address this limitation, the study proposes an algorithm that combines elements of the GPC algorithm with the sequential Monte Carlo (SMC) sampler. By leveraging the similarity between the learning rate in generalized posterior inference and the inverse temperature in SMC sampling, the proposed algorithm efficiently calibrates the posterior distribution with less computational cost. For demonstration, the proposed algorithm was applied to several statistical learning models.

Given a causal graph representing the data-generating process shared across different domains/distributions, enforcing sufficient graph-implied conditional independencies can identify domain-general (non-spurious) feature representations. For the standard input-output predictive setting, we categorize the set of graphs considered in the literature into two distinct groups: (i) those in which the empirical risk minimizer across training domains gives domain-general representations and (ii) those where it does not. For the latter case (ii), we propose a novel framework with regularizations, which we demonstrate are sufficient for identifying domain-general feature representations without a priori knowledge (or proxies) of the spurious features. Empirically, our proposed method is effective for both (semi) synthetic and real-world data, outperforming other state-of-the-art methods in average and worst-domain transfer accuracy.

Recent work has developed optimization procedures to find token sequences, called adversarial triggers, which can elicit unsafe responses from aligned language models. These triggers are believed to be universally transferable, i.e., a trigger optimized on one model can jailbreak other models. In this paper, we concretely show that such adversarial triggers are not universal. We extensively investigate trigger transfer amongst 13 open models and observe inconsistent transfer. Our experiments further reveal a significant difference in robustness to adversarial triggers between models Aligned by Preference Optimization (APO) and models Aligned by Fine-Tuning (AFT). We find that APO models are extremely hard to jailbreak even when the trigger is optimized directly on the model. On the other hand, while AFT models may appear safe on the surface, exhibiting refusals to a range of unsafe instructions, we show that they are highly susceptible to adversarial triggers. Lastly, we observe that most triggers optimized on AFT models also generalize to new unsafe instructions from five diverse domains, further emphasizing their vulnerability. Overall, our work highlights the need for more comprehensive safety evaluations for aligned language models.

We investigate the role of the initial screening order (ISO) in candidate screening processes, such as employee hiring and academic admissions. The ISO refers to the order in which the screener evaluates the candidate pool. It has been largely overlooked in the literature, despite its potential impact on the optimality and fairness of the chosen set, especially under a human screener. We define two problem formulations: the best-$k$, where the screener selects the $k$ best candidates, and the good-$k$, where the screener selects the $k$ first good-enough candidates. To study the impact of the ISO, we introduce a human-like screener and compare it to its algorithmic counterpart. The human-like screener is conceived to be inconsistent over time due to fatigue. Our analysis shows that the ISO, in particular, under a human-like screener hinders individual fairness despite meeting group level fairness. This is due to the position bias, where a candidate's evaluation is affected by its position within the ISO. We report extensive simulated experiments exploring the parameters of the best-$k$ and good-$k$ problem formulations both for the algorithmic and human-like screeners. This work is motivated by a real world candidate screening problem studied in collaboration with a large European company.

The cyber terrain contains devices, network services, cyber personas, and other network entities involved in network operations. Designing a method that automatically identifies key network entities to network operations is challenging. However, such a method is essential for determining which cyber assets should the cyber defense focus on. In this paper, we propose an approach for the classification of IP addresses belonging to cyber key terrain according to their network position using the PageRank centrality computation adjusted by machine learning. We used hill climbing and random walk algorithms to distinguish PageRank's damping factors based on source and destination ports captured in IP flows. The one-time learning phase on a static data sample allows near-real-time stream-based classification of key hosts from IP flow data in operational conditions without maintaining a complete network graph. We evaluated the approach on a dataset from a cyber defense exercise and on data from the campus network. The results show that cyber key terrain identification using the adjusted computation of centrality is more precise than its original version.

The chronological order of user-item interactions can reveal time-evolving and sequential user behaviors in many recommender systems. The items that users will interact with may depend on the items accessed in the past. However, the substantial increase of users and items makes sequential recommender systems still face non-trivial challenges: (1) the hardness of modeling the short-term user interests; (2) the difficulty of capturing the long-term user interests; (3) the effective modeling of item co-occurrence patterns. To tackle these challenges, we propose a memory augmented graph neural network (MA-GNN) to capture both the long- and short-term user interests. Specifically, we apply a graph neural network to model the item contextual information within a short-term period and utilize a shared memory network to capture the long-range dependencies between items. In addition to the modeling of user interests, we employ a bilinear function to capture the co-occurrence patterns of related items. We extensively evaluate our model on five real-world datasets, comparing with several state-of-the-art methods and using a variety of performance metrics. The experimental results demonstrate the effectiveness of our model for the task of Top-K sequential recommendation.

We investigate a lattice-structured LSTM model for Chinese NER, which encodes a sequence of input characters as well as all potential words that match a lexicon. Compared with character-based methods, our model explicitly leverages word and word sequence information. Compared with word-based methods, lattice LSTM does not suffer from segmentation errors. Gated recurrent cells allow our model to choose the most relevant characters and words from a sentence for better NER results. Experiments on various datasets show that lattice LSTM outperforms both word-based and character-based LSTM baselines, achieving the best results.

The dominant sequence transduction models are based on complex recurrent or convolutional neural networks in an encoder-decoder configuration. The best performing models also connect the encoder and decoder through an attention mechanism. We propose a new simple network architecture, the Transformer, based solely on attention mechanisms, dispensing with recurrence and convolutions entirely. Experiments on two machine translation tasks show these models to be superior in quality while being more parallelizable and requiring significantly less time to train. Our model achieves 28.4 BLEU on the WMT 2014 English-to-German translation task, improving over the existing best results, including ensembles by over 2 BLEU. On the WMT 2014 English-to-French translation task, our model establishes a new single-model state-of-the-art BLEU score of 41.8 after training for 3.5 days on eight GPUs, a small fraction of the training costs of the best models from the literature. We show that the Transformer generalizes well to other tasks by applying it successfully to English constituency parsing both with large and limited training data.