Gradient Diffusion: A Perturbation-Resilient Gradient Leakage Attack

Recent years have witnessed the vulnerability of Federated Learning (FL) against gradient leakage attacks, where the private training data can be recovered from the exchanged gradients, making gradient protection a critical issue for the FL training process. Existing solutions often resort to perturbation-based mechanisms, such as differential privacy, where each participating client injects a specific amount of noise into local gradients before aggregating to the server, and the global distribution variation finally conceals the gradient privacy. However, perturbation is not always the panacea for gradient protection since the robustness heavily relies on the injected noise. This intuition raises an interesting question: \textit{is it possible to deactivate existing protection mechanisms by removing the perturbation inside the gradients?} In this paper, we present the answer: \textit{yes} and propose the Perturbation-resilient Gradient Leakage Attack (PGLA), the first attempt to recover the perturbed gradients, without additional access to the original model structure or third-party data. Specifically, we leverage the inherent diffusion property of gradient perturbation protection and construct a novel diffusion-based denoising model to implement PGLA. Our insight is that capturing the disturbance level of perturbation during the diffusion reverse process can release the gradient denoising capability, which promotes the diffusion model to generate approximate gradients as the original clean version through adaptive sampling steps. Extensive experiments demonstrate that PGLA effectively recovers the protected gradients and exposes the FL training process to the threat of gradient leakage, achieving the best quality in gradient denoising and data recovery compared to existing models. We hope to arouse public attention on PGLA and its defense.

ZeroDDI: A Zero-Shot Drug-Drug Interaction Event Prediction Method with Semantic Enhanced Learning and Dual-Modal Uniform Alignment

Drug-drug interactions (DDIs) can result in various pharmacological changes, which can be categorized into different classes known as DDI events (DDIEs). In recent years, previously unobserved/unseen DDIEs have been emerging, posing a new classification task when unseen classes have no labelled instances in the training stage, which is formulated as a zero-shot DDIE prediction (ZS-DDIE) task. However, existing computational methods are not directly applicable to ZS-DDIE, which has two primary challenges: obtaining suitable DDIE representations and handling the class imbalance issue. To overcome these challenges, we propose a novel method named ZeroDDI for the ZS-DDIE task. Specifically, we design a biological semantic enhanced DDIE representation learning module, which emphasizes the key biological semantics and distills discriminative molecular substructure-related semantics for DDIE representation learning. Furthermore, we propose a dual-modal uniform alignment strategy to distribute drug pair representations and DDIE semantic representations uniformly in a unit sphere and align the matched ones, which can mitigate the issue of class imbalance. Extensive experiments showed that ZeroDDI surpasses the baselines and indicate that it is a promising tool for detecting unseen DDIEs. Our code has been released in https://github.com/wzy-Sarah/ZeroDDI.

Advancing Generalized Transfer Attack with Initialization Derived Bilevel Optimization and Dynamic Sequence Truncation

Transfer attacks generate significant interest for real-world black-box applications by crafting transferable adversarial examples through surrogate models. Whereas, existing works essentially directly optimize the single-level objective w.r.t. the surrogate model, which always leads to poor interpretability of attack mechanism and limited generalization performance over unknown victim models. In this work, we propose the \textbf{B}il\textbf{E}vel \textbf{T}ransfer \textbf{A}ttac\textbf{K} (BETAK) framework by establishing an initialization derived bilevel optimization paradigm, which explicitly reformulates the nested constraint relationship between the Upper-Level (UL) pseudo-victim attacker and the Lower-Level (LL) surrogate attacker. Algorithmically, we introduce the Hyper Gradient Response (HGR) estimation as an effective feedback for the transferability over pseudo-victim attackers, and propose the Dynamic Sequence Truncation (DST) technique to dynamically adjust the back-propagation path for HGR and reduce computational overhead simultaneously. Meanwhile, we conduct detailed algorithmic analysis and provide convergence guarantee to support non-convexity of the LL surrogate attacker. Extensive evaluations demonstrate substantial improvement of BETAK (e.g., $\mathbf{53.41}$\% increase of attack success rates against IncRes-v$2_{ens}$) against different victims and defense methods in targeted and untargeted attack scenarios. The source code is available at https://github.com/callous-youth/BETAK.

Chem-FINESE: Validating Fine-Grained Few-shot Entity Extraction through Text Reconstruction

Fine-grained few-shot entity extraction in the chemical domain faces two unique challenges. First, compared with entity extraction tasks in the general domain, sentences from chemical papers usually contain more entities. Moreover, entity extraction models usually have difficulty extracting entities of long-tailed types. In this paper, we propose Chem-FINESE, a novel sequence-to-sequence (seq2seq) based few-shot entity extraction approach, to address these two challenges. Our Chem-FINESE has two components: a seq2seq entity extractor to extract named entities from the input sentence and a seq2seq self-validation module to reconstruct the original input sentence from extracted entities. Inspired by the fact that a good entity extraction system needs to extract entities faithfully, our new self-validation module leverages entity extraction results to reconstruct the original input sentence. Besides, we design a new contrastive loss to reduce excessive copying during the extraction process. Finally, we release ChemNER+, a new fine-grained chemical entity extraction dataset that is annotated by domain experts with the ChemNER schema. Experiments in few-shot settings with both ChemNER+ and CHEMET datasets show that our newly proposed framework has contributed up to 8.26% and 6.84% absolute F1-score gains respectively.

Large Language Models for Robotics: Opportunities, Challenges, and Perspectives

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension capabilities to formulate precise and efficient action plans based on natural language instructions. However, for embodied tasks, where robots interact with complex environments, text-only LLMs often face challenges due to a lack of compatibility with robotic visual perception. This study provides a comprehensive overview of the emerging integration of LLMs and multimodal LLMs into various robotic tasks. Additionally, we propose a framework that utilizes multimodal GPT-4V to enhance embodied task planning through the combination of natural language instructions and robot visual perceptions. Our results, based on diverse datasets, indicate that GPT-4V effectively enhances robot performance in embodied tasks. This extensive survey and evaluation of LLMs and multimodal LLMs across a variety of robotic tasks enriches the understanding of LLM-centric embodied intelligence and provides forward-looking insights toward bridging the gap in Human-Robot-Environment interaction.

A Multi-Modal Contrastive Diffusion Model for Therapeutic Peptide Generation

Therapeutic peptides represent a unique class of pharmaceutical agents crucial for the treatment of human diseases. Recently, deep generative models have exhibited remarkable potential for generating therapeutic peptides, but they only utilize sequence or structure information alone, which hinders the performance in generation. In this study, we propose a Multi-Modal Contrastive Diffusion model (MMCD), fusing both sequence and structure modalities in a diffusion framework to co-generate novel peptide sequences and structures. Specifically, MMCD constructs the sequence-modal and structure-modal diffusion models, respectively, and devises a multi-modal contrastive learning strategy with intercontrastive and intra-contrastive in each diffusion timestep, aiming to capture the consistency between two modalities and boost model performance. The inter-contrastive aligns sequences and structures of peptides by maximizing the agreement of their embeddings, while the intra-contrastive differentiates therapeutic and non-therapeutic peptides by maximizing the disagreement of their sequence/structure embeddings simultaneously. The extensive experiments demonstrate that MMCD performs better than other state-of-theart deep generative methods in generating therapeutic peptides across various metrics, including antimicrobial/anticancer score, diversity, and peptide-docking.

Structured Chemistry Reasoning with Large Language Models

This paper studies the problem of solving complex chemistry problems with large language models (LLMs). Despite the extensive general knowledge in LLMs (such as GPT-4), they struggle with chemistry reasoning that requires faithful grounded reasoning with diverse chemical knowledge and an integrative understanding of chemical interactions. We propose InstructChem, a new structured reasoning approach that substantially boosts the LLMs' chemical reasoning capabilities. InstructChem explicitly decomposes the reasoning into three critical phrases, including chemical formulae generation by LLMs that offers the basis for subsequent grounded reasoning, step-by-step reasoning that makes multi-step derivations with the identified formulae for a preliminary answer, and iterative review-and-refinement that steers LLMs to progressively revise the previous phases for increasing confidence, leading to the final high-confidence answer. We conduct extensive experiments on four different chemistry challenges, including quantum chemistry, quantum mechanics, physical chemistry, and chemistry kinetics. Our approach significantly enhances GPT-4 on chemistry reasoning, yielding an 8% average absolute improvement and a 30% peak improvement. We further use the generated reasoning by GPT-4 to fine-tune smaller LMs (e.g., Vicuna) and observe strong improvement of the smaller LMs. This validates our approach and enables LLMs to generate high-quality reasoning.

Generating HSR Bogie Vibration Signals via Pulse Voltage-Guided Conditional Diffusion Model

Generative Adversarial Networks (GANs) for producing realistic signals, have substantially improved fault diagnosis algorithms in various Internet of Things (IoT) systems. However, challenges such as training instability and dynamical inaccuracy limit their utility in high-speed rail (HSR) bogie fault diagnosis. To address these challenges, we introduce the Pulse Voltage-Guided Conditional Diffusion Model (VGCDM). Unlike traditional implicit GANs, VGCDM adopts a sequential U-Net architecture, facilitating multi-phase denoising diffusion for generation, which bolsters training stability and mitigate convergence issues. VGCDM also incorporates control pulse voltage by cross-attention mechanism to ensure the alignment of vibration with voltage signals, enhancing the Conditional Diffusion Model's progressive controlablity. Consequently, solely straightforward sampling of control voltages, ensuring the efficient transformation from Gaussian Noise to vibration signals. This adaptability remains robust even in scenarios with time-varying speeds. To validate the effectiveness, we conducted two case studies using SQ dataset and high-simulation HSR bogie dataset. The results of our experiments unequivocally confirm that VGCDM outperforms other generative models, achieving the best RSME, PSNR, and FSCS, showing its superiority in conditional HSR bogie vibration signal generation. For access, our code is available at https://github.com/xuanliu2000/VGCDM.

A Vision-Centric Approach for Static Map Element Annotation

The recent development of online static map element (a.k.a. HD Map) construction algorithms has raised a vast demand for data with ground truth annotations. However, available public datasets currently cannot provide high-quality training data regarding consistency and accuracy. To this end, we present CAMA: a vision-centric approach for Consistent and Accurate Map Annotation. Without LiDAR inputs, our proposed framework can still generate high-quality 3D annotations of static map elements. Specifically, the annotation can achieve high reprojection accuracy across all surrounding cameras and is spatial-temporal consistent across the whole sequence. We apply our proposed framework to the popular nuScenes dataset to provide efficient and highly accurate annotations. Compared with the original nuScenes static map element, models trained with annotations from CAMA achieve lower reprojection errors (e.g., 4.73 vs. 8.03 pixels).

Technical Report: A Contact-aware Feedback CPG System for Learning-based Locomotion Control in a Soft Snake Robot

Integrating contact-awareness into a soft snake robot and efficiently controlling its locomotion in response to contact information present significant challenges. This paper aims to solve contact-aware locomotion problem of a soft snake robot through developing bio-inspired contact-aware locomotion controllers. To provide effective contact information for the controllers, we develop a scale covered sensor structure mimicking natural snakes' \textit{scale sensilla}. In the design of control framework, our core contribution is the development of a novel sensory feedback mechanism of the Matsuoka central pattern generator (CPG) network. This mechanism allows the Matsuoka CPG system to work like a "spine cord" in the whole contact-aware control scheme, which simultaneously takes the stimuli including tonic input signals from the "brain" (a goal-tracking locomotion controller) and sensory feedback signals from the "reflex arc" (the contact reactive controller), and generate rhythmic signals to effectively actuate the soft snake robot to slither through densely allocated obstacles. In the design of the "reflex arc", we develop two types of reactive controllers -- 1) a reinforcement learning (RL) sensor regulator that learns to manipulate the sensory feedback inputs of the CPG system, and 2) a local reflexive sensor-CPG network that directly connects sensor readings and the CPG's feedback inputs in a special topology. These two reactive controllers respectively facilitate two different contact-aware locomotion control schemes. The two control schemes are tested and evaluated in the soft snake robot, showing promising performance in the contact-aware locomotion tasks. The experimental results also further verify the benefit of Matsuoka CPG system in bio-inspired robot controller design.