PolygMap: A Perceptive Locomotion Framework for Humanoid Robot Stair Climbing

Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the positions they see in unknown spaces accurately. In this paper, we present PolyMap, a perception-based locomotion planning framework for humanoid robots to climb stairs. Our core idea is to build a real-time polygonal staircase plane semantic map, followed by a footstep planar using these polygonal plane segments. These plane segmentation and visual odometry are done by multi-sensor fusion(LiDAR, RGB-D camera and IMUs). The proposed framework is deployed on a NVIDIA Orin, which performs 20-30 Hz whole-body motion planning output. Both indoor and outdoor real-scene experiments indicate that our method is efficient and robust for humanoid robot stair climbing.

Speculating LLMs' Chinese Training Data Pollution from Their Tokens

Tokens are basic elements in the datasets for LLM training. It is well-known that many tokens representing Chinese phrases in the vocabulary of GPT (4o/4o-mini/o1/o3/4.5/4.1/o4-mini) are indicating contents like pornography or online gambling. Based on this observation, our goal is to locate Polluted Chinese (PoC) tokens in LLMs and study the relationship between PoC tokens' existence and training data. (1) We give a formal definition and taxonomy of PoC tokens based on the GPT's vocabulary. (2) We build a PoC token detector via fine-tuning an LLM to label PoC tokens in vocabularies by considering each token's both semantics and related contents from the search engines. (3) We study the speculation on the training data pollution via PoC tokens' appearances (token ID). Experiments on GPT and other 23 LLMs indicate that tokens widely exist while GPT's vocabulary behaves the worst: more than 23% long Chinese tokens (i.e., a token with more than two Chinese characters) are either porn or online gambling. We validate the accuracy of our speculation method on famous pre-training datasets like C4 and Pile. Then, considering GPT-4o, we speculate that the ratio of "Yui Hatano" related webpages in GPT-4o's training data is around 0.5%.

Exploring Multimodal Challenges in Toxic Chinese Detection: Taxonomy, Benchmark, and Findings

Detecting toxic content using language models is important but challenging. While large language models (LLMs) have demonstrated strong performance in understanding Chinese, recent studies show that simple character substitutions in toxic Chinese text can easily confuse the state-of-the-art (SOTA) LLMs. In this paper, we highlight the multimodal nature of Chinese language as a key challenge for deploying LLMs in toxic Chinese detection. First, we propose a taxonomy of 3 perturbation strategies and 8 specific approaches in toxic Chinese content. Then, we curate a dataset based on this taxonomy, and benchmark 9 SOTA LLMs (from both the US and China) to assess if they can detect perturbed toxic Chinese text. Additionally, we explore cost-effective enhancement solutions like in-context learning (ICL) and supervised fine-tuning (SFT). Our results reveal two important findings. (1) LLMs are less capable of detecting perturbed multimodal Chinese toxic contents. (2) ICL or SFT with a small number of perturbed examples may cause the LLMs "overcorrect'': misidentify many normal Chinese contents as toxic.

Disrupting Vision-Language Model-Driven Navigation Services via Adversarial Object Fusion

We present Adversarial Object Fusion (AdvOF), a novel attack framework targeting vision-and-language navigation (VLN) agents in service-oriented environments by generating adversarial 3D objects. While foundational models like Large Language Models (LLMs) and Vision Language Models (VLMs) have enhanced service-oriented navigation systems through improved perception and decision-making, their integration introduces vulnerabilities in mission-critical service workflows. Existing adversarial attacks fail to address service computing contexts, where reliability and quality-of-service (QoS) are paramount. We utilize AdvOF to investigate and explore the impact of adversarial environments on the VLM-based perception module of VLN agents. In particular, AdvOF first precisely aggregates and aligns the victim object positions in both 2D and 3D space, defining and rendering adversarial objects. Then, we collaboratively optimize the adversarial object with regularization between the adversarial and victim object across physical properties and VLM perceptions. Through assigning importance weights to varying views, the optimization is processed stably and multi-viewedly by iterative fusions from local updates and justifications. Our extensive evaluations demonstrate AdvOF can effectively degrade agent performance under adversarial conditions while maintaining minimal interference with normal navigation tasks. This work advances the understanding of service security in VLM-powered navigation systems, providing computational foundations for robust service composition in physical-world deployments.

BitHydra: Towards Bit-flip Inference Cost Attack against Large Language Models

Large language models (LLMs) have shown impressive capabilities across a wide range of applications, but their ever-increasing size and resource demands make them vulnerable to inference cost attacks, where attackers induce victim LLMs to generate the longest possible output content. In this paper, we revisit existing inference cost attacks and reveal that these methods can hardly produce large-scale malicious effects since they are self-targeting, where attackers are also the users and therefore have to execute attacks solely through the inputs, whose generated content will be charged by LLMs and can only directly influence themselves. Motivated by these findings, this paper introduces a new type of inference cost attacks (dubbed 'bit-flip inference cost attack') that target the victim model itself rather than its inputs. Specifically, we design a simple yet effective method (dubbed 'BitHydra') to effectively flip critical bits of model parameters. This process is guided by a loss function designed to suppress <EOS> token's probability with an efficient critical bit search algorithm, thus explicitly defining the attack objective and enabling effective optimization. We evaluate our method on 11 LLMs ranging from 1.5B to 14B parameters under both int8 and float16 settings. Experimental results demonstrate that with just 4 search samples and as few as 3 bit flips, BitHydra can force 100% of test prompts to reach the maximum generation length (e.g., 2048 tokens) on representative LLMs such as LLaMA3, highlighting its efficiency, scalability, and strong transferability across unseen inputs.

Holmes: Automated Fact Check with Large Language Models

The rise of Internet connectivity has accelerated the spread of disinformation, threatening societal trust, decision-making, and national security. Disinformation has evolved from simple text to complex multimodal forms combining images and text, challenging existing detection methods. Traditional deep learning models struggle to capture the complexity of multimodal disinformation. Inspired by advances in AI, this study explores using Large Language Models (LLMs) for automated disinformation detection. The empirical study shows that (1) LLMs alone cannot reliably assess the truthfulness of claims; (2) providing relevant evidence significantly improves their performance; (3) however, LLMs cannot autonomously search for accurate evidence. To address this, we propose Holmes, an end-to-end framework featuring a novel evidence retrieval method that assists LLMs in collecting high-quality evidence. Our approach uses (1) LLM-powered summarization to extract key information from open sources and (2) a new algorithm and metrics to evaluate evidence quality. Holmes enables LLMs to verify claims and generate justifications effectively. Experiments show Holmes achieves 88.3% accuracy on two open-source datasets and 90.2% in real-time verification tasks. Notably, our improved evidence retrieval boosts fact-checking accuracy by 30.8% over existing methods

BadLingual: A Novel Lingual-Backdoor Attack against Large Language Models

In this paper, we present a new form of backdoor attack against Large Language Models (LLMs): lingual-backdoor attacks. The key novelty of lingual-backdoor attacks is that the language itself serves as the trigger to hijack the infected LLMs to generate inflammatory speech. They enable the precise targeting of a specific language-speaking group, exacerbating racial discrimination by malicious entities. We first implement a baseline lingual-backdoor attack, which is carried out by poisoning a set of training data for specific downstream tasks through translation into the trigger language. However, this baseline attack suffers from poor task generalization and is impractical in real-world settings. To address this challenge, we design BadLingual, a novel task-agnostic lingual-backdoor, capable of triggering any downstream tasks within the chat LLMs, regardless of the specific questions of these tasks. We design a new approach using PPL-constrained Greedy Coordinate Gradient-based Search (PGCG) based adversarial training to expand the decision boundary of lingual-backdoor, thereby enhancing the generalization ability of lingual-backdoor across various tasks. We perform extensive experiments to validate the effectiveness of our proposed attacks. Specifically, the baseline attack achieves an ASR of over 90% on the specified tasks. However, its ASR reaches only 37.61% across six tasks in the task-agnostic scenario. In contrast, BadLingual brings up to 37.35% improvement over the baseline. Our study sheds light on a new perspective of vulnerabilities in LLMs with multilingual capabilities and is expected to promote future research on the potential defenses to enhance the LLMs' robustness

Inception: Jailbreak the Memory Mechanism of Text-to-Image Generation Systems

Currently, the memory mechanism has been widely and successfully exploited in online text-to-image (T2I) generation systems ($e.g.$, DALL$\cdot$E 3) for alleviating the growing tokenization burden and capturing key information in multi-turn interactions. Despite its practicality, its security analyses have fallen far behind. In this paper, we reveal that this mechanism exacerbates the risk of jailbreak attacks. Different from previous attacks that fuse the unsafe target prompt into one ultimate adversarial prompt, which can be easily detected or may generate non-unsafe images due to under- or over-optimization, we propose Inception, the first multi-turn jailbreak attack against the memory mechanism in real-world text-to-image generation systems. Inception embeds the malice at the inception of the chat session turn by turn, leveraging the mechanism that T2I generation systems retrieve key information in their memory. Specifically, Inception mainly consists of two modules. It first segments the unsafe prompt into chunks, which are subsequently fed to the system in multiple turns, serving as pseudo-gradients for directive optimization. Specifically, we develop a series of segmentation policies that ensure the images generated are semantically consistent with the target prompt. Secondly, after segmentation, to overcome the challenge of the inseparability of minimum unsafe words, we propose recursion, a strategy that makes minimum unsafe words subdivisible. Collectively, segmentation and recursion ensure that all the request prompts are benign but can lead to malicious outcomes. We conduct experiments on the real-world text-to-image generation system ($i.e.$, DALL$\cdot$E 3) to validate the effectiveness of Inception. The results indicate that Inception surpasses the state-of-the-art by a 14\% margin in attack success rate.

A Comprehensive Survey in LLM(-Agent) Full Stack Safety: Data, Training and Deployment

The remarkable success of Large Language Models (LLMs) has illuminated a promising pathway toward achieving Artificial General Intelligence for both academic and industrial communities, owing to their unprecedented performance across various applications. As LLMs continue to gain prominence in both research and commercial domains, their security and safety implications have become a growing concern, not only for researchers and corporations but also for every nation. Currently, existing surveys on LLM safety primarily focus on specific stages of the LLM lifecycle, e.g., deployment phase or fine-tuning phase, lacking a comprehensive understanding of the entire "lifechain" of LLMs. To address this gap, this paper introduces, for the first time, the concept of "full-stack" safety to systematically consider safety issues throughout the entire process of LLM training, deployment, and eventual commercialization. Compared to the off-the-shelf LLM safety surveys, our work demonstrates several distinctive advantages: (I) Comprehensive Perspective. We define the complete LLM lifecycle as encompassing data preparation, pre-training, post-training, deployment and final commercialization. To our knowledge, this represents the first safety survey to encompass the entire lifecycle of LLMs. (II) Extensive Literature Support. Our research is grounded in an exhaustive review of over 800+ papers, ensuring comprehensive coverage and systematic organization of security issues within a more holistic understanding. (III) Unique Insights. Through systematic literature analysis, we have developed reliable roadmaps and perspectives for each chapter. Our work identifies promising research directions, including safety in data generation, alignment techniques, model editing, and LLM-based agent systems. These insights provide valuable guidance for researchers pursuing future work in this field.

Testing the Fault-Tolerance of Multi-Sensor Fusion Perception in Autonomous Driving Systems

High-level Autonomous Driving Systems (ADSs), such as Google Waymo and Baidu Apollo, typically rely on multi-sensor fusion (MSF) based approaches to perceive their surroundings. This strategy increases perception robustness by combining the respective strengths of the camera and LiDAR and directly affects the safety-critical driving decisions of autonomous vehicles (AVs). However, in real-world autonomous driving scenarios, cameras and LiDAR are subject to various faults, which can probably significantly impact the decision-making and behaviors of ADSs. Existing MSF testing approaches only discovered corner cases that the MSF-based perception cannot accurately detected by MSF-based perception, while lacking research on how sensor faults affect the system-level behaviors of ADSs. To address this gap, we conduct the first exploration of the fault tolerance of MSF perception-based ADS for sensor faults. In this paper, we systematically and comprehensively build fault models for cameras and LiDAR in AVs and inject them into the MSF perception-based ADS to test its behaviors in test scenarios. To effectively and efficiently explore the parameter spaces of sensor fault models, we design a feedback-guided differential fuzzer to discover the safety violations of MSF perception-based ADS caused by the injected sensor faults. We evaluate FADE on the representative and practical industrial ADS, Baidu Apollo. Our evaluation results demonstrate the effectiveness and efficiency of FADE, and we conclude some useful findings from the experimental results. To validate the findings in the physical world, we use a real Baidu Apollo 6.0 EDU autonomous vehicle to conduct the physical experiments, and the results show the practical significance of our findings.