A Spatiotemporal Hand-Eye Calibration for Trajectory Alignment in Visual(-Inertial) Odometry Evaluation

A common prerequisite for evaluating a visual(-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference ground-truth derived from a system of superior precision, such as a motion capture system. The trajectory-based alignment, typically modeled as a classic hand-eye calibration, significantly influences the accuracy of evaluation metrics. However, traditional calibration methods are susceptible to the quality of the input poses. Few studies have taken this into account when evaluating VO/VIO trajectories that usually suffer from noise and drift. To fill this gap, we propose a novel spatiotemporal hand-eye calibration algorithm that fully leverages multiple constraints from screw theory for enhanced accuracy and robustness. Experimental results show that our algorithm has better performance and is less noise-prone than state-of-the-art methods.

Assessment of Multimodal Large Language Models in Alignment with Human Values

Large Language Models (LLMs) aim to serve as versatile assistants aligned with human values, as defined by the principles of being helpful, honest, and harmless (hhh). However, in terms of Multimodal Large Language Models (MLLMs), despite their commendable performance in perception and reasoning tasks, their alignment with human values remains largely unexplored, given the complexity of defining hhh dimensions in the visual world and the difficulty in collecting relevant data that accurately mirrors real-world situations. To address this gap, we introduce Ch3Ef, a Compreh3ensive Evaluation dataset and strategy for assessing alignment with human expectations. Ch3Ef dataset contains 1002 human-annotated data samples, covering 12 domains and 46 tasks based on the hhh principle. We also present a unified evaluation strategy supporting assessment across various scenarios and different perspectives. Based on the evaluation results, we summarize over 10 key findings that deepen the understanding of MLLM capabilities, limitations, and the dynamic relationships between evaluation levels, guiding future advancements in the field.

EasyJailbreak: A Unified Framework for Jailbreaking Large Language Models

Jailbreak attacks are crucial for identifying and mitigating the security vulnerabilities of Large Language Models (LLMs). They are designed to bypass safeguards and elicit prohibited outputs. However, due to significant differences among various jailbreak methods, there is no standard implementation framework available for the community, which limits comprehensive security evaluations. This paper introduces EasyJailbreak, a unified framework simplifying the construction and evaluation of jailbreak attacks against LLMs. It builds jailbreak attacks using four components: Selector, Mutator, Constraint, and Evaluator. This modular framework enables researchers to easily construct attacks from combinations of novel and existing components. So far, EasyJailbreak supports 11 distinct jailbreak methods and facilitates the security validation of a broad spectrum of LLMs. Our validation across 10 distinct LLMs reveals a significant vulnerability, with an average breach probability of 60% under various jailbreaking attacks. Notably, even advanced models like GPT-3.5-Turbo and GPT-4 exhibit average Attack Success Rates (ASR) of 57% and 33%, respectively. We have released a wealth of resources for researchers, including a web platform, PyPI published package, screencast video, and experimental outputs.

SALAD-Bench: A Hierarchical and Comprehensive Safety Benchmark for Large Language Models

In the rapidly evolving landscape of Large Language Models (LLMs), ensuring robust safety measures is paramount. To meet this crucial need, we propose \emph{SALAD-Bench}, a safety benchmark specifically designed for evaluating LLMs, attack, and defense methods. Distinguished by its breadth, SALAD-Bench transcends conventional benchmarks through its large scale, rich diversity, intricate taxonomy spanning three levels, and versatile functionalities.SALAD-Bench is crafted with a meticulous array of questions, from standard queries to complex ones enriched with attack, defense modifications and multiple-choice. To effectively manage the inherent complexity, we introduce an innovative evaluators: the LLM-based MD-Judge for QA pairs with a particular focus on attack-enhanced queries, ensuring a seamless, and reliable evaluation. Above components extend SALAD-Bench from standard LLM safety evaluation to both LLM attack and defense methods evaluation, ensuring the joint-purpose utility. Our extensive experiments shed light on the resilience of LLMs against emerging threats and the efficacy of contemporary defense tactics. Data and evaluator are released under https://github.com/OpenSafetyLab/SALAD-BENCH.

From GPT-4 to Gemini and Beyond: Assessing the Landscape of MLLMs on Generalizability, Trustworthiness and Causality through Four Modalities

Multi-modal Large Language Models (MLLMs) have shown impressive abilities in generating reasonable responses with respect to multi-modal contents. However, there is still a wide gap between the performance of recent MLLM-based applications and the expectation of the broad public, even though the most powerful OpenAI's GPT-4 and Google's Gemini have been deployed. This paper strives to enhance understanding of the gap through the lens of a qualitative study on the generalizability, trustworthiness, and causal reasoning capabilities of recent proprietary and open-source MLLMs across four modalities: ie, text, code, image, and video, ultimately aiming to improve the transparency of MLLMs. We believe these properties are several representative factors that define the reliability of MLLMs, in supporting various downstream applications. To be specific, we evaluate the closed-source GPT-4 and Gemini and 6 open-source LLMs and MLLMs. Overall we evaluate 230 manually designed cases, where the qualitative results are then summarized into 12 scores (ie, 4 modalities times 3 properties). In total, we uncover 14 empirical findings that are useful to understand the capabilities and limitations of both proprietary and open-source MLLMs, towards more reliable downstream multi-modal applications.

PsySafe: A Comprehensive Framework for Psychological-based Attack, Defense, and Evaluation of Multi-agent System Safety

Multi-agent systems, augmented with Large Language Models (LLMs), demonstrate significant capabilities for collective intelligence. However, the potential misuse of this intelligence for malicious purposes presents significant risks. To date, comprehensive research on the safety issues associated with multi-agent systems remains limited. From the perspective of agent psychology, we discover that the dark psychological states of agents can lead to severe safety issues. To address these issues, we propose a comprehensive framework grounded in agent psychology. In our framework, we focus on three aspects: identifying how dark personality traits in agents might lead to risky behaviors, designing defense strategies to mitigate these risks, and evaluating the safety of multi-agent systems from both psychological and behavioral perspectives. Our experiments reveal several intriguing phenomena, such as the collective dangerous behaviors among agents, agents' propensity for self-reflection when engaging in dangerous behavior, and the correlation between agents' psychological assessments and their dangerous behaviors. We anticipate that our framework and observations will provide valuable insights for further research into the safety of multi-agent systems. We will make our data and code publicly accessible at https:/github.com/AI4Good24/PsySafe.

RenderIH: A Large-scale Synthetic Dataset for 3D Interacting Hand Pose Estimation

The current interacting hand (IH) datasets are relatively simplistic in terms of background and texture, with hand joints being annotated by a machine annotator, which may result in inaccuracies, and the diversity of pose distribution is limited. However, the variability of background, pose distribution, and texture can greatly influence the generalization ability. Therefore, we present a large-scale synthetic dataset RenderIH for interacting hands with accurate and diverse pose annotations. The dataset contains 1M photo-realistic images with varied backgrounds, perspectives, and hand textures. To generate natural and diverse interacting poses, we propose a new pose optimization algorithm. Additionally, for better pose estimation accuracy, we introduce a transformer-based pose estimation network, TransHand, to leverage the correlation between interacting hands and verify the effectiveness of RenderIH in improving results. Our dataset is model-agnostic and can improve more accuracy of any hand pose estimation method in comparison to other real or synthetic datasets. Experiments have shown that pretraining on our synthetic data can significantly decrease the error from 6.76mm to 5.79mm, and our Transhand surpasses contemporary methods. Our dataset and code are available at https://github.com/adwardlee/RenderIH.

DiffHand: End-to-End Hand Mesh Reconstruction via Diffusion Models

Hand mesh reconstruction from the monocular image is a challenging task due to its depth ambiguity and severe occlusion, there remains a non-unique mapping between the monocular image and hand mesh. To address this, we develop DiffHand, the first diffusion-based framework that approaches hand mesh reconstruction as a denoising diffusion process. Our one-stage pipeline utilizes noise to model the uncertainty distribution of the intermediate hand mesh in a forward process. We reformulate the denoising diffusion process to gradually refine noisy hand mesh and then select mesh with the highest probability of being correct based on the image itself, rather than relying on 2D joints extracted beforehand. To better model the connectivity of hand vertices, we design a novel network module called the cross-modality decoder. Extensive experiments on the popular benchmarks demonstrate that our method outperforms the state-of-the-art hand mesh reconstruction approaches by achieving 5.8mm PA-MPJPE on the Freihand test set, 4.98mm PA-MPJPE on the DexYCB test set.

One-stage Action Detection Transformer

In this work, we introduce our solution to the EPIC-KITCHENS-100 2022 Action Detection challenge. One-stage Action Detection Transformer (OADT) is proposed to model the temporal connection of video segments. With the help of OADT, both the category and time boundary can be recognized simultaneously. After ensembling multiple OADT models trained from different features, our model can reach 21.28\% action mAP and ranks the 1st on the test-set of the Action detection challenge.

NATTACK: Learning the Distributions of Adversarial Examples for an Improved Black-Box Attack on Deep Neural Networks

Powerful adversarial attack methods are vital for understanding how to construct robust deep neural networks (DNNs) and for thoroughly testing defense techniques. In this paper, we propose a black-box adversarial attack algorithm that can defeat both vanilla DNNs and those generated by various defense techniques developed recently. Instead of searching for an "optimal" adversarial example for a benign input to a targeted DNN, our algorithm finds a probability density distribution over a small region centered around the input, such that a sample drawn from this distribution is likely an adversarial example, without the need of accessing the DNN's internal layers or weights. Our approach is universal as it can successfully attack different neural networks by a single algorithm. It is also strong; according to the testing against 2 vanilla DNNs and 13 defended ones, it outperforms state-of-the-art black-box or white-box attack methods for most test cases. Additionally, our results reveal that adversarial training remains one of the best defense techniques, and the adversarial examples are not as transferable across defended DNNs as them across vanilla DNNs.