Enhancing LLM Factual Accuracy with RAG to Counter Hallucinations: A Case Study on Domain-Specific Queries in Private Knowledge-Bases

We proposed an end-to-end system design towards utilizing Retrieval Augmented Generation (RAG) to improve the factual accuracy of Large Language Models (LLMs) for domain-specific and time-sensitive queries related to private knowledge-bases. Our system integrates RAG pipeline with upstream datasets processing and downstream performance evaluation. Addressing the challenge of LLM hallucinations, we finetune models with a curated dataset which originates from CMU's extensive resources and annotated with the teacher model. Our experiments demonstrate the system's effectiveness in generating more accurate answers to domain-specific and time-sensitive inquiries. The results also revealed the limitations of fine-tuning LLMs with small-scale and skewed datasets. This research highlights the potential of RAG systems in augmenting LLMs with external datasets for improved performance in knowledge-intensive tasks. Our code and models are available on Github.

Bipartite Graph Pre-training for Unsupervised Extractive Summarization with Graph Convolutional Auto-Encoders

Pre-trained sentence representations are crucial for identifying significant sentences in unsupervised document extractive summarization. However, the traditional two-step paradigm of pre-training and sentence-ranking, creates a gap due to differing optimization objectives. To address this issue, we argue that utilizing pre-trained embeddings derived from a process specifically designed to optimize cohensive and distinctive sentence representations helps rank significant sentences. To do so, we propose a novel graph pre-training auto-encoder to obtain sentence embeddings by explicitly modelling intra-sentential distinctive features and inter-sentential cohesive features through sentence-word bipartite graphs. These pre-trained sentence representations are then utilized in a graph-based ranking algorithm for unsupervised summarization. Our method produces predominant performance for unsupervised summarization frameworks by providing summary-worthy sentence representations. It surpasses heavy BERT- or RoBERTa-based sentence representations in downstream tasks.

Adversarial Robustness Unhardening via Backdoor Attacks in Federated Learning

In today's data-driven landscape, the delicate equilibrium between safeguarding user privacy and unleashing data potential stands as a paramount concern. Federated learning, which enables collaborative model training without necessitating data sharing, has emerged as a privacy-centric solution. This decentralized approach brings forth security challenges, notably poisoning and backdoor attacks where malicious entities inject corrupted data. Our research, initially spurred by test-time evasion attacks, investigates the intersection of adversarial training and backdoor attacks within federated learning, introducing Adversarial Robustness Unhardening (ARU). ARU is employed by a subset of adversaries to intentionally undermine model robustness during decentralized training, rendering models susceptible to a broader range of evasion attacks. We present extensive empirical experiments evaluating ARU's impact on adversarial training and existing robust aggregation defenses against poisoning and backdoor attacks. Our findings inform strategies for enhancing ARU to counter current defensive measures and highlight the limitations of existing defenses, offering insights into bolstering defenses against ARU.

Aggregating Single-wheeled Mobile Robots for Omnidirectional Movements

This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is shaped as a regular icositetragon with a permanent magnet installed on each corner for stable docking. After aggregating multiple modules and forming a structure that can cage a target object, we have developed an optimization-based method to compute the distribution of all wheels' heading directions, which enables efficient omnidirectional movements of the structure. By implementing a hierarchical controller on our prototyped system in both simulation and experiment, we validated the trajectory tracking performance of an individual module and a team of six modules in multiple navigation and collaborative object transportation settings. The results demonstrate that the proposed system can maintain a stable caging formation and achieve smooth transportation, indicating the effectiveness of our hardware and locomotion designs.

Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators

We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of a UAM's floating base, the manipulator, and the object being manipulated, entailing a unified kinematics and dynamics model for motion planning under designated constraints. By leveraging a virtual kinematic chain (VKC)-based motion planning framework that consolidates components' kinematics into one chain, the sequential manipulation task of a UAM can be planned as a whole, yielding more coordinated motions. Integrating the kinematics and dynamics models with a hierarchical control framework, we demonstrate, for the first time, an over-actuated UAM achieves a series of new sequential manipulation capabilities in both simulation and experiment.

Tencent's Multilingual Machine Translation System for WMT22 Large-Scale African Languages

This paper describes Tencent's multilingual machine translation systems for the WMT22 shared task on Large-Scale Machine Translation Evaluation for African Languages. We participated in the $\mathbf{constrained}$ translation track in which only the data and pretrained models provided by the organizer are allowed. The task is challenging due to three problems, including the absence of training data for some to-be-evaluated language pairs, the uneven optimization of language pairs caused by data imbalance, and the curse of multilinguality. To address these problems, we adopt data augmentation, distributionally robust optimization, and language family grouping, respectively, to develop our multilingual neural machine translation (MNMT) models. Our submissions won the $\mathbf{1st\ place}$ on the blind test sets in terms of the automatic evaluation metrics. Codes, models, and detailed competition results are available at https://github.com/wxjiao/WMT2022-Large-Scale-African.

Downwash-aware Control Allocation for Over-actuated UAV Platforms

Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexity of modeling aerodynamic airflow challenges control algorithms from properly compensating for such a side effect. Leveraging the input redundancies in over-actuated UAVs, we tackle this issue with a novel control allocation framework that considers downwash effects and explores the entire allocation space for an optimal solution. This optimal solution avoids downwash effects while providing high thrust efficiency within the hardware constraints. To the best of our knowledge, ours is the first formal derivation to investigate the downwash effects on over-actuated UAVs. We verify our framework on different hardware configurations in both simulation and experiment.

SAFELearning: Enable Backdoor Detectability In Federated Learning With Secure Aggregation

For model privacy, local model parameters in federated learning shall be obfuscated before sent to the remote aggregator. This technique is referred to as \emph{secure aggregation}. However, secure aggregation makes model poisoning attacks, e.g., to insert backdoors, more convenient given existing anomaly detection methods mostly require access to plaintext local models. This paper proposes SAFELearning which supports backdoor detection for secure aggregation. We achieve this through two new primitives - \emph{oblivious random grouping (ORG)} and \emph{partial parameter disclosure (PPD)}. ORG partitions participants into one-time random subgroups with group configurations oblivious to participants; PPD allows secure partial disclosure of aggregated subgroup models for anomaly detection without leaking individual model privacy. SAFELearning is able to significantly reduce backdoor model accuracy without jeopardizing the main task accuracy under common backdoor strategies. Extensive experiments show SAFELearning reduces backdoor accuracy from $100\%$ to $8.2\%$ for ResNet-18 over CIFAR-10 when $10\%$ participants are malicious.