The integration of multimodal information into sequential recommender systems has attracted significant attention in recent research. In the initial stages of multimodal sequential recommendation models, the mainstream paradigm was ID-dominant recommendations, wherein multimodal information was fused as side information. However, due to their limitations in terms of transferability and information intrusion, another paradigm emerged, wherein multimodal features were employed directly for recommendation, enabling recommendation across datasets. Nonetheless, it overlooked user ID information, resulting in low information utilization and high training costs. To this end, we propose an innovative framework, BivRec, that jointly trains the recommendation tasks in both ID and multimodal views, leveraging their synergistic relationship to enhance recommendation performance bidirectionally. To tackle the information heterogeneity issue, we first construct structured user interest representations and then learn the synergistic relationship between them. Specifically, BivRec comprises three modules: Multi-scale Interest Embedding, comprehensively modeling user interests by expanding user interaction sequences with multi-scale patching; Intra-View Interest Decomposition, constructing highly structured interest representations using carefully designed Gaussian attention and Cluster attention; and Cross-View Interest Learning, learning the synergistic relationship between the two recommendation views through coarse-grained overall semantic similarity and fine-grained interest allocation similarity BiVRec achieves state-of-the-art performance on five datasets and showcases various practical advantages.
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A longstanding challenge for self-driving development is simulating dynamic driving scenarios seeded from recorded driving logs. In pursuit of this functionality, we apply tools from discrete sequence modeling to model how vehicles, pedestrians and cyclists interact in driving scenarios. Using a simple data-driven tokenization scheme, we discretize trajectories to centimeter-level resolution using a small vocabulary. We then model the multi-agent sequence of discrete motion tokens with a GPT-like encoder-decoder that is autoregressive in time and takes into account intra-timestep interaction between agents. Scenarios sampled from our model exhibit state-of-the-art realism; our model tops the Waymo Sim Agents Benchmark, surpassing prior work along the realism meta metric by 3.3% and along the interaction metric by 9.9%. We ablate our modeling choices in full autonomy and partial autonomy settings, and show that the representations learned by our model can quickly be adapted to improve performance on nuScenes. We additionally evaluate the scalability of our model with respect to parameter count and dataset size, and use density estimates from our model to quantify the saliency of context length and intra-timestep interaction for the traffic modeling task.
Since its inception, Rowhammer exploits have rapidly evolved into increasingly sophisticated threats not only compromising data integrity but also the control flow integrity of victim processes. Nevertheless, it remains a challenge for an attacker to identify vulnerable targets (i.e., Rowhammer gadgets), understand the outcome of the attempted fault, and formulate an attack that yields useful results. In this paper, we present a new type of Rowhammer gadget, called a LeapFrog gadget, which, when present in the victim code, allows an adversary to subvert code execution to bypass a critical piece of code (e.g., authentication check logic, encryption rounds, padding in security protocols). The Leapfrog gadget manifests when the victim code stores the Program Counter (PC) value in the user or kernel stack (e.g., a return address during a function call) which, when tampered with, re-positions the return address to a location that bypasses a security-critical code pattern. This research also presents a systematic process to identify Leapfrog gadgets. This methodology enables the automated detection of susceptible targets and the determination of optimal attack parameters. We first showcase this new attack vector through a practical demonstration on a TLS handshake client/server scenario, successfully inducing an instruction skip in a client application. We then demonstrate the attack on real-world code found in the wild, implementing an attack on OpenSSL. Our findings extend the impact of Rowhammer attacks on control flow and contribute to the development of more robust defenses against these increasingly sophisticated threats.
The autonomous driving community has shown significant interest in 3D occupancy prediction, driven by its exceptional geometric perception and general object recognition capabilities. To achieve this, current works try to construct a Tri-Perspective View (TPV) or Occupancy (OCC) representation extending from the Bird-Eye-View perception. However, compressed views like TPV representation lose 3D geometry information while raw and sparse OCC representation requires heavy but redundant computational costs. To address the above limitations, we propose Compact Occupancy TRansformer (COTR), with a geometry-aware occupancy encoder and a semantic-aware group decoder to reconstruct a compact 3D OCC representation. The occupancy encoder first generates a compact geometrical OCC feature through efficient explicit-implicit view transformation. Then, the occupancy decoder further enhances the semantic discriminability of the compact OCC representation by a coarse-to-fine semantic grouping strategy. Empirical experiments show that there are evident performance gains across multiple baselines, e.g., COTR outperforms baselines with a relative improvement of 8%-15%, demonstrating the superiority of our method.
Roadside perception can greatly increase the safety of autonomous vehicles by extending their perception ability beyond the visual range and addressing blind spots. However, current state-of-the-art vision-based roadside detection methods possess high accuracy on labeled scenes but have inferior performance on new scenes. This is because roadside cameras remain stationary after installation and can only collect data from a single scene, resulting in the algorithm overfitting these roadside backgrounds and camera poses. To address this issue, in this paper, we propose an innovative Scenario Generalization Framework for Vision-based Roadside 3D Object Detection, dubbed SGV3D. Specifically, we employ a Background-suppressed Module (BSM) to mitigate background overfitting in vision-centric pipelines by attenuating background features during the 2D to bird's-eye-view projection. Furthermore, by introducing the Semi-supervised Data Generation Pipeline (SSDG) using unlabeled images from new scenes, diverse instance foregrounds with varying camera poses are generated, addressing the risk of overfitting specific camera poses. We evaluate our method on two large-scale roadside benchmarks. Our method surpasses all previous methods by a significant margin in new scenes, including +42.57% for vehicle, +5.87% for pedestrian, and +14.89% for cyclist compared to BEVHeight on the DAIR-V2X-I heterologous benchmark. On the larger-scale Rope3D heterologous benchmark, we achieve notable gains of 14.48% for car and 12.41% for large vehicle. We aspire to contribute insights on the exploration of roadside perception techniques, emphasizing their capability for scenario generalization. The code will be available at //github.com/yanglei18/SGV3D
The integration of Large Language Models (LLMs) into robotics has revolutionized human-robot interactions and autonomous task planning. However, these systems are often unable to self-correct during the task execution, which hinders their adaptability in dynamic real-world environments. To address this issue, we present a Hierarchical Closed-loop Robotic Intelligent Self-correction Planner (HiCRISP), an innovative framework that enables robots to correct errors within individual steps during the task execution. HiCRISP actively monitors and adapts the task execution process, addressing both high-level planning and low-level action errors. Extensive benchmark experiments, encompassing virtual and real-world scenarios, showcase HiCRISP's exceptional performance, positioning it as a promising solution for robotic task planning with LLMs.
Recent advancements in 3D perception systems have significantly improved their ability to perform visual recognition tasks such as segmentation. However, these systems still heavily rely on explicit human instruction to identify target objects or categories, lacking the capability to actively reason and comprehend implicit user intentions. We introduce a novel segmentation task known as reasoning part segmentation for 3D objects, aiming to output a segmentation mask based on complex and implicit textual queries about specific parts of a 3D object. To facilitate evaluation and benchmarking, we present a large 3D dataset comprising over 60k instructions paired with corresponding ground-truth part segmentation annotations specifically curated for reasoning-based 3D part segmentation. We propose a model that is capable of segmenting parts of 3D objects based on implicit textual queries and generating natural language explanations corresponding to 3D object segmentation requests. Experiments show that our method achieves competitive performance to models that use explicit queries, with the additional abilities to identify part concepts, reason about them, and complement them with world knowledge. Our source code, dataset, and trained models are available at //github.com/AmrinKareem/PARIS3D.
Blind super-resolution methods based on stable diffusion showcase formidable generative capabilities in reconstructing clear high-resolution images with intricate details from low-resolution inputs. However, their practical applicability is often hampered by poor efficiency, stemming from the requirement of thousands or hundreds of sampling steps. Inspired by the efficient text-to-image approach adversarial diffusion distillation (ADD), we design AddSR to address this issue by incorporating the ideas of both distillation and ControlNet. Specifically, we first propose a prediction-based self-refinement strategy to provide high-frequency information in the student model output with marginal additional time cost. Furthermore, we refine the training process by employing HR images, rather than LR images, to regulate the teacher model, providing a more robust constraint for distillation. Second, we introduce a timestep-adapting loss to address the perception-distortion imbalance problem introduced by ADD. Extensive experiments demonstrate our AddSR generates better restoration results, while achieving faster speed than previous SD-based state-of-the-art models (e.g., 7x faster than SeeSR).
3D stylization, which entails the application of specific styles to three-dimensional objects, holds significant commercial potential as it enables the creation of diverse 3D objects with distinct moods and styles, tailored to specific demands of different scenes. With recent advancements in text-driven methods and artificial intelligence, the stylization process is increasingly intuitive and automated, thereby diminishing the reliance on manual labor and expertise. However, existing methods have predominantly focused on holistic stylization, thereby leaving the application of styles to individual components of a 3D object unexplored. In response, we introduce 3DStyleGLIP, a novel framework specifically designed for text-driven, part-tailored 3D stylization. Given a 3D mesh and a text prompt, 3DStyleGLIP leverages the vision-language embedding space of the Grounded Language-Image Pre-training (GLIP) model to localize the individual parts of the 3D mesh and modify their colors and local geometries to align them with the desired styles specified in the text prompt. 3DStyleGLIP is effectively trained for 3D stylization tasks through a part-level style loss working in GLIP's embedding space, supplemented by two complementary learning techniques. Extensive experimental validation confirms that our method achieves significant part-wise stylization capabilities, demonstrating promising potential in advancing the field of 3D stylization.
Similarity search, the task of identifying objects most similar to a given query object under a specific metric, has gathered significant attention due to its practical applications. However, the absence of coordinate information to accelerate similarity search and the high computational cost of measuring object similarity hinder the efficiency of existing CPU-based methods. Additionally, these methods struggle to meet the demand for high throughput data management. To address these challenges, we propose GTS, a GPU-based tree index designed for the parallel processing of similarity search in general metric spaces, where only the distance metric for measuring object similarity is known. The GTS index utilizes a pivot-based tree structure to efficiently prune objects and employs list tables to facilitate GPU computing. To efficiently manage concurrent similarity queries with limited GPU memory, we have developed a two-stage search method that combines batch processing and sequential strategies to optimize memory usage. The paper also introduces an effective update strategy for the proposed GPU-based index, encompassing streaming data updates and batch data updates. Additionally, we present a cost model to evaluate search performance. Extensive experiments on five real-life datasets demonstrate that GTS achieves efficiency gains of up to two orders of magnitude over existing CPU baselines and up to 20x efficiency improvements compared to state-of-the-art GPU-based methods.
Deep reinforcement learning has recently shown many impressive successes. However, one major obstacle towards applying such methods to real-world problems is their lack of data-efficiency. To this end, we propose the Bottleneck Simulator: a model-based reinforcement learning method which combines a learned, factorized transition model of the environment with rollout simulations to learn an effective policy from few examples. The learned transition model employs an abstract, discrete (bottleneck) state, which increases sample efficiency by reducing the number of model parameters and by exploiting structural properties of the environment. We provide a mathematical analysis of the Bottleneck Simulator in terms of fixed points of the learned policy, which reveals how performance is affected by four distinct sources of error: an error related to the abstract space structure, an error related to the transition model estimation variance, an error related to the transition model estimation bias, and an error related to the transition model class bias. Finally, we evaluate the Bottleneck Simulator on two natural language processing tasks: a text adventure game and a real-world, complex dialogue response selection task. On both tasks, the Bottleneck Simulator yields excellent performance beating competing approaches.
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