V2X-Real: a Largs-Scale Dataset for Vehicle-to-Everything Cooperative Perception

Recent advancements in Vehicle-to-Everything (V2X) technologies have enabled autonomous vehicles to share sensing information to see through occlusions, greatly boosting the perception capability. However, there are no real-world datasets to facilitate the real V2X cooperative perception research -- existing datasets either only support Vehicle-to-Infrastructure cooperation or Vehicle-to-Vehicle cooperation. In this paper, we propose a dataset that has a mixture of multiple vehicles and smart infrastructure simultaneously to facilitate the V2X cooperative perception development with multi-modality sensing data. Our V2X-Real is collected using two connected automated vehicles and two smart infrastructures, which are all equipped with multi-modal sensors including LiDAR sensors and multi-view cameras. The whole dataset contains 33K LiDAR frames and 171K camera data with over 1.2M annotated bounding boxes of 10 categories in very challenging urban scenarios. According to the collaboration mode and ego perspective, we derive four types of datasets for Vehicle-Centric, Infrastructure-Centric, Vehicle-to-Vehicle, and Infrastructure-to-Infrastructure cooperative perception. Comprehensive multi-class multi-agent benchmarks of SOTA cooperative perception methods are provided. The V2X-Real dataset and benchmark codes will be released.

Breaking Data Silos: Cross-Domain Learning for Multi-Agent Perception from Independent Private Sources

The diverse agents in multi-agent perception systems may be from different companies. Each company might use the identical classic neural network architecture based encoder for feature extraction. However, the data source to train the various agents is independent and private in each company, leading to the Distribution Gap of different private data for training distinct agents in multi-agent perception system. The data silos by the above Distribution Gap could result in a significant performance decline in multi-agent perception. In this paper, we thoroughly examine the impact of the distribution gap on existing multi-agent perception systems. To break the data silos, we introduce the Feature Distribution-aware Aggregation (FDA) framework for cross-domain learning to mitigate the above Distribution Gap in multi-agent perception. FDA comprises two key components: Learnable Feature Compensation Module and Distribution-aware Statistical Consistency Module, both aimed at enhancing intermediate features to minimize the distribution gap among multi-agent features. Intensive experiments on the public OPV2V and V2XSet datasets underscore FDA's effectiveness in point cloud-based 3D object detection, presenting it as an invaluable augmentation to existing multi-agent perception systems.

Computational Copyright: Towards A Royalty Model for AI Music Generation Platforms

The advancement of generative AI has given rise to pressing copyright challenges, particularly in music industry. This paper focuses on the economic aspects of these challenges, emphasizing that the economic impact constitutes a central issue in the copyright arena. The complexity of the black-box generative AI technologies not only suggests but necessitates algorithmic solutions. However, such solutions have been largely missing, leading to regulatory challenges in this landscape. We aim to bridge the gap in current approaches by proposing potential royalty models for revenue sharing on AI music generation platforms. Our methodology involves a detailed analysis of existing royalty models in platforms like Spotify and YouTube, and adapting these to the unique context of AI-generated music. A significant challenge we address is the attribution of AI-generated music to influential copyrighted content in the training data. To this end, we present algorithmic solutions employing data attribution techniques. Our experimental results verify the effectiveness of these solutions. This research represents a pioneering effort in integrating technical advancements with economic and legal considerations in the field of generative AI, offering a computational copyright solution for the challenges posed by the opaque nature of AI technologies.

A Metadata-Driven Approach to Understand Graph Neural Networks

Graph Neural Networks (GNNs) have achieved remarkable success in various applications, but their performance can be sensitive to specific data properties of the graph datasets they operate on. Current literature on understanding the limitations of GNNs has primarily employed a $\textit{model-driven}$ approach that leverage heuristics and domain knowledge from network science or graph theory to model the GNN behaviors, which is time-consuming and highly subjective. In this work, we propose a $\textit{metadata-driven}$ approach to analyze the sensitivity of GNNs to graph data properties, motivated by the increasing availability of graph learning benchmarks. We perform a multivariate sparse regression analysis on the metadata derived from benchmarking GNN performance across diverse datasets, yielding a set of salient data properties. To validate the effectiveness of our data-driven approach, we focus on one identified data property, the degree distribution, and investigate how this property influences GNN performance through theoretical analysis and controlled experiments. Our theoretical findings reveal that datasets with more balanced degree distribution exhibit better linear separability of node representations, thus leading to better GNN performance. We also conduct controlled experiments using synthetic datasets with varying degree distributions, and the results align well with our theoretical findings. Collectively, both the theoretical analysis and controlled experiments verify that the proposed metadata-driven approach is effective in identifying critical data properties for GNNs.

Investigating the Fairness of Large Language Models for Predictions on Tabular Data

Recent literature has suggested the potential of using large language models (LLMs) to make predictions for tabular tasks. However, LLMs have been shown to exhibit harmful social biases that reflect the stereotypes and inequalities present in the society. To this end, as well as the widespread use of tabular data in many high-stake applications, it is imperative to explore the following questions: what sources of information do LLMs draw upon when making predictions for tabular tasks; whether and to what extent are LLM predictions for tabular tasks influenced by social biases and stereotypes; and what are the consequential implications for fairness? Through a series of experiments, we delve into these questions and show that LLMs tend to inherit social biases from their training data which significantly impact their fairness in tabular prediction tasks. Furthermore, our investigations show that in the context of bias mitigation, though in-context learning and fine-tuning have a moderate effect, the fairness metric gap between different subgroups is still larger than that in traditional machine learning models, such as Random Forest and shallow Neural Networks. This observation emphasizes that the social biases are inherent within the LLMs themselves and inherited from their pre-training corpus, not only from the downstream task datasets. Besides, we demonstrate that label-flipping of in-context examples can significantly reduce biases, further highlighting the presence of inherent bias within LLMs.

Optimizing the Placement of Roadside LiDARs for Autonomous Driving

Multi-agent cooperative perception is an increasingly popular topic in the field of autonomous driving, where roadside LiDARs play an essential role. However, how to optimize the placement of roadside LiDARs is a crucial but often overlooked problem. This paper proposes an approach to optimize the placement of roadside LiDARs by selecting optimized positions within the scene for better perception performance. To efficiently obtain the best combination of locations, a greedy algorithm based on perceptual gain is proposed, which selects the location that can maximize the perceptual gain sequentially. We define perceptual gain as the increased perceptual capability when a new LiDAR is placed. To obtain the perception capability, we propose a perception predictor that learns to evaluate LiDAR placement using only a single point cloud frame. A dataset named Roadside-Opt is created using the CARLA simulator to facilitate research on the roadside LiDAR placement problem.

Can LLMs Effectively Leverage Graph Structural Information: When and Why

This paper studies Large Language Models (LLMs) augmented with structured data--particularly graphs--a crucial data modality that remains underexplored in the LLM literature. We aim to understand when and why the incorporation of structural information inherent in graph data can improve the prediction performance of LLMs on node classification tasks with textual features. To address the ``when'' question, we examine a variety of prompting methods for encoding structural information, in settings where textual node features are either rich or scarce. For the ``why'' questions, we probe into two potential contributing factors to the LLM performance: data leakage and homophily. Our exploration of these questions reveals that (i) LLMs can benefit from structural information, especially when textual node features are scarce; (ii) there is no substantial evidence indicating that the performance of LLMs is significantly attributed to data leakage; and (iii) the performance of LLMs on a target node is strongly positively related to the local homophily ratio of the node\footnote{Codes and datasets are at: \url{https://github.com/TRAIS-Lab/LLM-Structured-Data}}.

Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perception

Vehicle-to-everything (V2X) autonomous driving opens up a promising direction for developing a new generation of intelligent transportation systems. Collaborative perception (CP) as an essential component to achieve V2X can overcome the inherent limitations of individual perception, including occlusion and long-range perception. In this survey, we provide a comprehensive review of CP methods for V2X scenarios, bringing a profound and in-depth understanding to the community. Specifically, we first introduce the architecture and workflow of typical V2X systems, which affords a broader perspective to understand the entire V2X system and the role of CP within it. Then, we thoroughly summarize and analyze existing V2X perception datasets and CP methods. Particularly, we introduce numerous CP methods from various crucial perspectives, including collaboration stages, roadside sensors placement, latency compensation, performance-bandwidth trade-off, attack/defense, pose alignment, etc. Moreover, we conduct extensive experimental analyses to compare and examine current CP methods, revealing some essential and unexplored insights. Specifically, we analyze the performance changes of different methods under different bandwidths, providing a deep insight into the performance-bandwidth trade-off issue. Also, we examine methods under different LiDAR ranges. To study the model robustness, we further investigate the effects of various simulated real-world noises on the performance of different CP methods, covering communication latency, lossy communication, localization errors, and mixed noises. In addition, we look into the sim-to-real generalization ability of existing CP methods. At last, we thoroughly discuss issues and challenges, highlighting promising directions for future efforts. Our codes for experimental analysis will be public at https://github.com/memberRE/Collaborative-Perception.

Accurate, Explainable, and Private Models: Providing Recourse While Minimizing Training Data Leakage

Machine learning models are increasingly utilized across impactful domains to predict individual outcomes. As such, many models provide algorithmic recourse to individuals who receive negative outcomes. However, recourse can be leveraged by adversaries to disclose private information. This work presents the first attempt at mitigating such attacks. We present two novel methods to generate differentially private recourse: Differentially Private Model (DPM) and Laplace Recourse (LR). Using logistic regression classifiers and real world and synthetic datasets, we find that DPM and LR perform well in reducing what an adversary can infer, especially at low FPR. When training dataset size is large enough, we find particular success in preventing privacy leakage while maintaining model and recourse accuracy with our novel LR method.