Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of reduced-order models in robotics, this paper presents a tutorial on constructive safety-critical control via reduced-order models and control barrier functions (CBFs). To this end, we provide a unified formulation of techniques in the literature that share a common foundation of constructing CBFs for complex systems from CBFs for much simpler systems. Such ideas are illustrated through formal results, simple numerical examples, and case studies of real-world systems to which these techniques have been experimentally applied.
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Similar to humans, animals make extensive use of verbal and non-verbal forms of communication, including a large range of audio signals. In this paper, we address dog vocalizations and explore the use of self-supervised speech representation models pre-trained on human speech to address dog bark classification tasks that find parallels in human-centered tasks in speech recognition. We specifically address four tasks: dog recognition, breed identification, gender classification, and context grounding. We show that using speech embedding representations significantly improves over simpler classification baselines. Further, we also find that models pre-trained on large human speech acoustics can provide additional performance boosts on several tasks.
Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a fixed noise covariance for the inertial uncertainty. However, accurately determining in real-time the noise variance of the inertial sensors presents a significant challenge as the uncertainty changes throughout the operation leading to suboptimal performance and reduced accuracy. To circumvent this, we propose VIO-DualProNet, a novel approach that utilizes deep learning methods to dynamically estimate the inertial noise uncertainty in real-time. By designing and training a deep neural network to predict inertial noise uncertainty using only inertial sensor measurements, and integrating it into the VINS-Mono algorithm, we demonstrate a substantial improvement in accuracy and robustness, enhancing VIO performance and potentially benefiting other VIO-based systems for precise localization and mapping across diverse conditions.
Blockchain technology has rapidly emerged to mainstream attention, while its publicly accessible, heterogeneous, massive-volume, and temporal data are reminiscent of the complex dynamics encountered during the last decade of big data. Unlike any prior data source, blockchain datasets encompass multiple layers of interactions across real-world entities, e.g., human users, autonomous programs, and smart contracts. Furthermore, blockchain's integration with cryptocurrencies has introduced financial aspects of unprecedented scale and complexity such as decentralized finance, stablecoins, non-fungible tokens, and central bank digital currencies. These unique characteristics present both opportunities and challenges for machine learning on blockchain data. On one hand, we examine the state-of-the-art solutions, applications, and future directions associated with leveraging machine learning for blockchain data analysis critical for the improvement of blockchain technology such as e-crime detection and trends prediction. On the other hand, we shed light on the pivotal role of blockchain by providing vast datasets and tools that can catalyze the growth of the evolving machine learning ecosystem. This paper serves as a comprehensive resource for researchers, practitioners, and policymakers, offering a roadmap for navigating this dynamic and transformative field.
Bipedal robots are garnering increasing global attention due to their potential applications and advancements in artificial intelligence, particularly in Deep Reinforcement Learning (DRL). While DRL has driven significant progress in bipedal locomotion, developing a comprehensive and unified framework capable of adeptly performing a wide range of tasks remains a challenge. This survey systematically categorizes, compares, and summarizes existing DRL frameworks for bipedal locomotion, organizing them into end-to-end and hierarchical control schemes. End-to-end frameworks are assessed based on their learning approaches, whereas hierarchical frameworks are dissected into layers that utilize either learning-based methods or traditional model-based approaches. This survey provides a detailed analysis of the composition, capabilities, strengths, and limitations of each framework type. Furthermore, we identify critical research gaps and propose future directions aimed at achieving a more integrated and efficient framework for bipedal locomotion, with potential broad applications in everyday life.
Despite the exceptional performance of multi-modal large language models (MLLMs), their deployment requires substantial computational resources. Once malicious users induce high energy consumption and latency time (energy-latency cost), it will exhaust computational resources and harm availability of service. In this paper, we investigate this vulnerability for MLLMs, particularly image-based and video-based ones, and aim to induce high energy-latency cost during inference by crafting an imperceptible perturbation. We find that high energy-latency cost can be manipulated by maximizing the length of generated sequences, which motivates us to propose verbose samples, including verbose images and videos. Concretely, two modality non-specific losses are proposed, including a loss to delay end-of-sequence (EOS) token and an uncertainty loss to increase the uncertainty over each generated token. In addition, improving diversity is important to encourage longer responses by increasing the complexity, which inspires the following modality specific loss. For verbose images, a token diversity loss is proposed to promote diverse hidden states. For verbose videos, a frame feature diversity loss is proposed to increase the feature diversity among frames. To balance these losses, we propose a temporal weight adjustment algorithm. Experiments demonstrate that our verbose samples can largely extend the length of generated sequences.
Current recommendation systems are significantly affected by a serious issue of temporal data shift, which is the inconsistency between the distribution of historical data and that of online data. Most existing models focus on utilizing updated data, overlooking the transferable, temporal data shift-free information that can be learned from shifting data. We propose the Temporal Invariance of Association theorem, which suggests that given a fixed search space, the relationship between the data and the data in the search space keeps invariant over time. Leveraging this principle, we designed a retrieval-based recommendation system framework that can train a data shift-free relevance network using shifting data, significantly enhancing the predictive performance of the original model in the recommendation system. However, retrieval-based recommendation models face substantial inference time costs when deployed online. To address this, we further designed a distill framework that can distill information from the relevance network into a parameterized module using shifting data. The distilled model can be deployed online alongside the original model, with only a minimal increase in inference time. Extensive experiments on multiple real datasets demonstrate that our framework significantly improves the performance of the original model by utilizing shifting data.
In the post-deep learning era, the Transformer architecture has demonstrated its powerful performance across pre-trained big models and various downstream tasks. However, the enormous computational demands of this architecture have deterred many researchers. To further reduce the complexity of attention models, numerous efforts have been made to design more efficient methods. Among them, the State Space Model (SSM), as a possible replacement for the self-attention based Transformer model, has drawn more and more attention in recent years. In this paper, we give the first comprehensive review of these works and also provide experimental comparisons and analysis to better demonstrate the features and advantages of SSM. Specifically, we first give a detailed description of principles to help the readers quickly capture the key ideas of SSM. After that, we dive into the reviews of existing SSMs and their various applications, including natural language processing, computer vision, graph, multi-modal and multi-media, point cloud/event stream, time series data, and other domains. In addition, we give statistical comparisons and analysis of these models and hope it helps the readers to understand the effectiveness of different structures on various tasks. Then, we propose possible research points in this direction to better promote the development of the theoretical model and application of SSM. More related works will be continuously updated on the following GitHub: //github.com/Event-AHU/Mamba_State_Space_Model_Paper_List.
As a primary means of information acquisition, information retrieval (IR) systems, such as search engines, have integrated themselves into our daily lives. These systems also serve as components of dialogue, question-answering, and recommender systems. The trajectory of IR has evolved dynamically from its origins in term-based methods to its integration with advanced neural models. While the neural models excel at capturing complex contextual signals and semantic nuances, thereby reshaping the IR landscape, they still face challenges such as data scarcity, interpretability, and the generation of contextually plausible yet potentially inaccurate responses. This evolution requires a combination of both traditional methods (such as term-based sparse retrieval methods with rapid response) and modern neural architectures (such as language models with powerful language understanding capacity). Meanwhile, the emergence of large language models (LLMs), typified by ChatGPT and GPT-4, has revolutionized natural language processing due to their remarkable language understanding, generation, generalization, and reasoning abilities. Consequently, recent research has sought to leverage LLMs to improve IR systems. Given the rapid evolution of this research trajectory, it is necessary to consolidate existing methodologies and provide nuanced insights through a comprehensive overview. In this survey, we delve into the confluence of LLMs and IR systems, including crucial aspects such as query rewriters, retrievers, rerankers, and readers. Additionally, we explore promising directions within this expanding field.
Generative commonsense reasoning which aims to empower machines to generate sentences with the capacity of reasoning over a set of concepts is a critical bottleneck for text generation. Even the state-of-the-art pre-trained language generation models struggle at this task and often produce implausible and anomalous sentences. One reason is that they rarely consider incorporating the knowledge graph which can provide rich relational information among the commonsense concepts. To promote the ability of commonsense reasoning for text generation, we propose a novel knowledge graph augmented pre-trained language generation model KG-BART, which encompasses the complex relations of concepts through the knowledge graph and produces more logical and natural sentences as output. Moreover, KG-BART can leverage the graph attention to aggregate the rich concept semantics that enhances the model generalization on unseen concept sets. Experiments on benchmark CommonGen dataset verify the effectiveness of our proposed approach by comparing with several strong pre-trained language generation models, particularly KG-BART outperforms BART by 5.80, 4.60, in terms of BLEU-3, 4. Moreover, we also show that the generated context by our model can work as background scenarios to benefit downstream commonsense QA tasks.
Object detection typically assumes that training and test data are drawn from an identical distribution, which, however, does not always hold in practice. Such a distribution mismatch will lead to a significant performance drop. In this work, we aim to improve the cross-domain robustness of object detection. We tackle the domain shift on two levels: 1) the image-level shift, such as image style, illumination, etc, and 2) the instance-level shift, such as object appearance, size, etc. We build our approach based on the recent state-of-the-art Faster R-CNN model, and design two domain adaptation components, on image level and instance level, to reduce the domain discrepancy. The two domain adaptation components are based on H-divergence theory, and are implemented by learning a domain classifier in adversarial training manner. The domain classifiers on different levels are further reinforced with a consistency regularization to learn a domain-invariant region proposal network (RPN) in the Faster R-CNN model. We evaluate our newly proposed approach using multiple datasets including Cityscapes, KITTI, SIM10K, etc. The results demonstrate the effectiveness of our proposed approach for robust object detection in various domain shift scenarios.
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