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Early and accurate detection of anomalous events on the freeway, such as accidents, can improve emergency response and clearance. However, existing delays and errors in event identification and reporting make it a difficult problem to solve. Current large-scale freeway traffic datasets are not designed for anomaly detection and ignore these challenges. In this paper, we introduce the first large-scale lane-level freeway traffic dataset for anomaly detection. Our dataset consists of a month of weekday radar detection sensor data collected in 4 lanes along an 18-mile stretch of Interstate 24 heading toward Nashville, TN, comprising over 3.7 million sensor measurements. We also collect official crash reports from the Nashville Traffic Management Center and manually label all other potential anomalies in the dataset. To show the potential for our dataset to be used in future machine learning and traffic research, we benchmark numerous deep learning anomaly detection models on our dataset. We find that unsupervised graph neural network autoencoders are a promising solution for this problem and that ignoring spatial relationships leads to decreased performance. We demonstrate that our methods can reduce reporting delays by over 10 minutes on average while detecting 75% of crashes. Our dataset and all preprocessing code needed to get started are publicly released at //vu.edu/ft-aed/ to facilitate future research.

This paper studies privacy in the context of complex decision support queries composed of multiple conditions on different aggregate statistics combined using disjunction and conjunction operators. Utility requirements for such queries necessitate the need for private mechanisms that guarantee a bound on the false negative and false positive errors. This paper formally defines complex decision support queries and their accuracy requirements, and provides algorithms that proportion the existing budget to optimally minimize privacy loss while supporting a bounded guarantee on the accuracy. Our experimental results on multiple real-life datasets show that our algorithms successfully maintain such utility guarantees, while also minimizing privacy loss.

Most prior motion prediction endeavors in autonomous driving have inadequately encoded future scenarios, leading to predictions that may fail to accurately capture the diverse movements of agents (e.g., vehicles or pedestrians). To address this, we propose FutureNet, which explicitly integrates initially predicted trajectories into the future scenario and further encodes these future contexts to enhance subsequent forecasting. Additionally, most previous motion forecasting works have focused on predicting independent futures for each agent. However, safe and smooth autonomous driving requires accurately predicting the diverse future behaviors of numerous surrounding agents jointly in complex dynamic environments. Given that all agents occupy certain potential travel spaces and possess lane driving priority, we propose Lane Occupancy Field (LOF), a new representation with lane semantics for motion forecasting in autonomous driving. LOF can simultaneously capture the joint probability distribution of all road participants' future spatial-temporal positions. Due to the high compatibility between lane occupancy field prediction and trajectory prediction, we propose a novel network with future context encoding for the joint prediction of these two tasks. Our approach ranks 1st on two large-scale motion forecasting benchmarks: Argoverse 1 and Argoverse 2.

Understanding the interdependence between autonomous and human-operated vehicles remains an ongoing challenge, with significant implications for the safety and feasibility of autonomous driving.This interdependence arises from inherent interactions among road users.Thus, it is crucial for Autonomous Vehicles (AVs) to understand and analyze the intentions of human-driven vehicles, and to display behavior comprehensible to other traffic participants.To this end, this paper presents GTP-UDRIVE, a unified game-theoretic trajectory planner and decision-maker considering a mixed-traffic environment. Our model considers the intentions of other vehicles in the decision-making process and provides the AV with a human-like trajectory, based on the clothoid interpolation technique.% This study investigates a solver based on Particle Swarm Optimization (PSO) that quickly converges to an optimal decision.Among highly interactive traffic scenarios, the intersection crossing is particularly challenging. Hence, we choose to demonstrate the feasibility and effectiveness of our method in real traffic conditions, using an experimental autonomous vehicle at an unsignalized intersection. Testing results reveal that our approach is suitable for 1) Making decisions and generating trajectories simultaneously. 2) Describing the vehicle's trajectory as a piecewise clothoid and enforcing geometric constraints. 3) Reducing search space dimensionality for the trajectory optimization problem.

We examine the disconnect between scholarship and practice in applying machine learning to trust and safety problems, using misinformation detection as a case study. We survey literature on automated detection of misinformation across a corpus of 248 well-cited papers in the field. We then examine subsets of papers for data and code availability, design missteps, reproducibility, and generalizability. Our paper corpus includes published work in security, natural language processing, and computational social science. Across these disparate disciplines, we identify common errors in dataset and method design. In general, detection tasks are often meaningfully distinct from the challenges that online services actually face. Datasets and model evaluation are often non-representative of real-world contexts, and evaluation frequently is not independent of model training. We demonstrate the limitations of current detection methods in a series of three representative replication studies. Based on the results of these analyses and our literature survey, we conclude that the current state-of-the-art in fully-automated misinformation detection has limited efficacy in detecting human-generated misinformation. We offer recommendations for evaluating applications of machine learning to trust and safety problems and recommend future directions for research.

The vulnerability of Deep Neural Networks to adversarial perturbations presents significant security concerns, as the imperceptible perturbations can contaminate the feature space and lead to incorrect predictions. Recent studies have attempted to calibrate contaminated features by either suppressing or over-activating particular channels. Despite these efforts, we claim that adversarial attacks exhibit varying disruption levels across individual channels. Furthermore, we argue that harmonizing feature maps via graph and employing graph convolution can calibrate contaminated features. To this end, we introduce an innovative plug-and-play module called Feature Map-based Reconstructed Graph Convolution (FMR-GC). FMR-GC harmonizes feature maps in the channel dimension to reconstruct the graph, then employs graph convolution to capture neighborhood information, effectively calibrating contaminated features. Extensive experiments have demonstrated the superior performance and scalability of FMR-GC. Moreover, our model can be combined with advanced adversarial training methods to considerably enhance robustness without compromising the model's clean accuracy.

We introduce TorchOpera, a compound AI system for enhancing the safety and quality of prompts and responses for Large Language Models. TorchOpera ensures that all user prompts are safe, contextually grounded, and effectively processed, while enhancing LLM responses to be relevant and high quality. TorchOpera utilizes the vector database for contextual grounding, rule-based wrappers for flexible modifications, and specialized mechanisms for detecting and adjusting unsafe or incorrect content. We also provide a view of the compound AI system to reduce the computational cost. Extensive experiments show that TorchOpera ensures the safety, reliability, and applicability of LLMs in real-world settings while maintaining the efficiency of LLM responses.

Evaluating the performance of autonomous vehicle planning algorithms necessitates simulating long-tail safety-critical traffic scenarios. However, traditional methods for generating such scenarios often fall short in terms of controllability and realism and neglect the dynamics of agent interactions. To mitigate these limitations, we introduce SAFE-SIM, a novel diffusion-based controllable closed-loop safety-critical simulation framework. Our approach yields two distinct advantages: 1) the generation of realistic long-tail safety-critical scenarios that closely emulate real-world conditions, and 2) enhanced controllability, enabling more comprehensive and interactive evaluations. We develop a novel approach to simulate safety-critical scenarios through an adversarial term in the denoising process, which allows an adversarial agent to challenge a planner with plausible maneuvers while all agents in the scene exhibit reactive and realistic behaviors. Furthermore, we propose novel guidance objectives and a partial diffusion process that enables a user to control key aspects of the generated scenarios, such as the collision type and aggressiveness of the adversarial driver, while maintaining the realism of the behavior. We validate our framework empirically using the NuScenes dataset, demonstrating improvements in both realism and controllability. These findings affirm that diffusion models provide a robust and versatile foundation for safety-critical, interactive traffic simulation, extending their utility across the broader landscape of autonomous driving. For supplementary videos, visit our project at //safe-sim.github.io/.

Robotic collectives for military and disaster response applications require coalition formation algorithms to partition robots into appropriate task teams. Collectives' missions will often incorporate tasks that require multiple high-level robot behaviors or services, which coalition formation must accommodate. The highly dynamic and unstructured application domains also necessitate that coalition formation algorithms produce near optimal solutions (i.e., >95% utility) in near real-time (i.e., <5 minutes) with very large collectives (i.e., hundreds of robots). No previous coalition formation algorithm satisfies these requirements. An initial evaluation found that traditional auction-based algorithms' runtimes are too long, even though the centralized simulator incorporated ideal conditions unlikely to occur in real-world deployments (i.e., synchronization across robots and perfect, instantaneous communication). The hedonic game-based GRAPE algorithm can produce solutions in near real-time, but cannot be applied to multiple service collectives. This manuscript integrates GRAPE and a services model, producing GRAPE-S and Pair-GRAPE-S. These algorithms and two auction baselines were evaluated using a centralized simulator with up to 1000 robots, and via the largest distributed coalition formation simulated evaluation to date, with up to 500 robots. The evaluations demonstrate that auctions transfer poorly to distributed collectives, resulting in excessive runtimes and low utility solutions. GRAPE-S satisfies the target domains' coalition formation requirements, producing near optimal solutions in near real-time, and Pair-GRAPE-S more than satisfies the domain requirements, producing optimal solutions in near real-time. GRAPE-S and Pair-GRAPE-S are the first algorithms demonstrated to support near real-time coalition formation for very large, distributed collectives with multiple services.

With the extremely rapid advances in remote sensing (RS) technology, a great quantity of Earth observation (EO) data featuring considerable and complicated heterogeneity is readily available nowadays, which renders researchers an opportunity to tackle current geoscience applications in a fresh way. With the joint utilization of EO data, much research on multimodal RS data fusion has made tremendous progress in recent years, yet these developed traditional algorithms inevitably meet the performance bottleneck due to the lack of the ability to comprehensively analyse and interpret these strongly heterogeneous data. Hence, this non-negligible limitation further arouses an intense demand for an alternative tool with powerful processing competence. Deep learning (DL), as a cutting-edge technology, has witnessed remarkable breakthroughs in numerous computer vision tasks owing to its impressive ability in data representation and reconstruction. Naturally, it has been successfully applied to the field of multimodal RS data fusion, yielding great improvement compared with traditional methods. This survey aims to present a systematic overview in DL-based multimodal RS data fusion. More specifically, some essential knowledge about this topic is first given. Subsequently, a literature survey is conducted to analyse the trends of this field. Some prevalent sub-fields in the multimodal RS data fusion are then reviewed in terms of the to-be-fused data modalities, i.e., spatiospectral, spatiotemporal, light detection and ranging-optical, synthetic aperture radar-optical, and RS-Geospatial Big Data fusion. Furthermore, We collect and summarize some valuable resources for the sake of the development in multimodal RS data fusion. Finally, the remaining challenges and potential future directions are highlighted.