Verification of Neural Networks Local Differential Classification Privacy

Neural networks are susceptible to privacy attacks. To date, no verifier can reason about the privacy of individuals participating in the training set. We propose a new privacy property, called local differential classification privacy (LDCP), extending local robustness to a differential privacy setting suitable for black-box classifiers. Given a neighborhood of inputs, a classifier is LDCP if it classifies all inputs the same regardless of whether it is trained with the full dataset or whether any single entry is omitted. A naive algorithm is highly impractical because it involves training a very large number of networks and verifying local robustness of the given neighborhood separately for every network. We propose Sphynx, an algorithm that computes an abstraction of all networks, with a high probability, from a small set of networks, and verifies LDCP directly on the abstract network. The challenge is twofold: network parameters do not adhere to a known distribution probability, making it difficult to predict an abstraction, and predicting too large abstraction harms the verification. Our key idea is to transform the parameters into a distribution given by KDE, allowing to keep the over-approximation error small. To verify LDCP, we extend a MILP verifier to analyze an abstract network. Experimental results show that by training only 7% of the networks, Sphynx predicts an abstract network obtaining 93% verification accuracy and reducing the analysis time by $1.7\cdot10^4$x.

ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton based on Stepping Strategy

Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by online optimization of step duration and position in response to external forces. We map the step duration and position to a human-like foot trajectory, which is then translated into joint trajectories using inverse kinematics. These trajectories are executed via an impedance controller, promoting cooperation between the exoskeleton and the user. Moreover, our framework is based on the concept of the divergent component of motion, also known as the Extrapolated Center of Mass, which has been established as a consistent dynamic for describing human movement. This real-time online optimization framework enhances the adaptability of exoskeleton users under unforeseen forces thereby improving the overall user stability and safety. To validate the effectiveness of our approach, simulations, and experiments were conducted. Our push recovery experiments employing the exoskeleton in zero-torque mode (without assistance) exhibit an alignment with the exoskeleton's recovery assistance mode, that shows the consistency of the control framework with human intention. To the best of our knowledge, this is the first cooperative push recovery framework for the lower-limb human exoskeleton that relies on the simultaneous adaptation of intra-stride parameters in both frontal and sagittal directions. The proposed control scheme has been validated with human subject experiments.

MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU

Nonlinear Model Predictive Control (NMPC) is a state-of-the-art approach for locomotion and manipulation which leverages trajectory optimization at each control step. While the performance of this approach is computationally bounded, implementations of direct trajectory optimization that use iterative methods to solve the underlying moderately-large and sparse linear systems, are a natural fit for parallel hardware acceleration. In this work, we introduce MPCGPU, a GPU-accelerated, real-time NMPC solver that leverages an accelerated preconditioned conjugate gradient (PCG) linear system solver at its core. We show that MPCGPU increases the scalability and real-time performance of NMPC, solving larger problems, at faster rates. In particular, for tracking tasks using the Kuka IIWA manipulator, MPCGPU is able to scale to kilohertz control rates with trajectories as long as 512 knot points. This is driven by a custom PCG solver which outperforms state-of-the-art, CPU-based, linear system solvers by at least 10x for a majority of solves and 3.6x on average.

Revising with a Backward Glance: Regressions and Skips during Reading as Cognitive Signals for Revision Policies in Incremental Processing

In NLP, incremental processors produce output in instalments, based on incoming prefixes of the linguistic input. Some tokens trigger revisions, causing edits to the output hypothesis, but little is known about why models revise when they revise. A policy that detects the time steps where revisions should happen can improve efficiency. Still, retrieving a suitable signal to train a revision policy is an open problem, since it is not naturally available in datasets. In this work, we investigate the appropriateness of regressions and skips in human reading eye-tracking data as signals to inform revision policies in incremental sequence labelling. Using generalised mixed-effects models, we find that the probability of regressions and skips by humans can potentially serve as useful predictors for revisions in BiLSTMs and Transformer models, with consistent results for various languages.

er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speeds

The Indy Autonomous Challenge (IAC) brought together for the first time in history nine autonomous racing teams competing at unprecedented speed and in head-to-head scenario, using independently developed software on open-wheel racecars. This paper presents the complete software architecture used by team TII EuroRacing (TII-ER), covering all the modules needed to avoid static obstacles, perform active overtakes and reach speeds above 75 m/s (270 km/h). In addition to the most common modules related to perception, planning, and control, we discuss the approaches used for vehicle dynamics modelling, simulation, telemetry, and safety. Overall results and the performance of each module are described, as well as the lessons learned during the first two events of the competition on oval tracks, where the team placed respectively second and third.

The Synergy of Speculative Decoding and Batching in Serving Large Language Models

Large Language Models (LLMs) like GPT are state-of-the-art text generation models that provide significant assistance in daily routines. However, LLM execution is inherently sequential, since they only produce one token at a time, thus incurring low hardware utilization on modern GPUs. Batching and speculative decoding are two techniques to improve GPU hardware utilization in LLM inference. To study their synergy, we implement a prototype implementation and perform an extensive characterization analysis on various LLM models and GPU architectures. We observe that the optimal speculation length depends on the batch size used. We analyze the key observation and build a quantitative model to explain it. Based on our analysis, we propose a new adaptive speculative decoding strategy that chooses the optimal speculation length for different batch sizes. Our evaluations show that our proposed method can achieve equal or better performance than the state-of-the-art speculation decoding schemes with fixed speculation length.

Towards Combinatorial Generalization for Catalysts: A Kohn-Sham Charge-Density Approach

The Kohn-Sham equations underlie many important applications such as the discovery of new catalysts. Recent machine learning work on catalyst modeling has focused on prediction of the energy, but has so far not yet demonstrated significant out-of-distribution generalization. Here we investigate another approach based on the pointwise learning of the Kohn-Sham charge-density. On a new dataset of bulk catalysts with charge densities, we show density models can generalize to new structures with combinations of elements not seen at train time, a form of combinatorial generalization. We show that over 80% of binary and ternary test cases achieve faster convergence than standard baselines in Density Functional Theory, amounting to an average reduction of 13% in the number of iterations required to reach convergence, which may be of independent interest. Our results suggest that density learning is a viable alternative, trading greater inference costs for a step towards combinatorial generalization, a key property for applications.

Audio-Visual Instance Segmentation

In this paper, we propose a new multi-modal task, namely audio-visual instance segmentation (AVIS), in which the goal is to identify, segment, and track individual sounding object instances in audible videos, simultaneously. To our knowledge, it is the first time that instance segmentation has been extended into the audio-visual domain. To better facilitate this research, we construct the first audio-visual instance segmentation benchmark (AVISeg). Specifically, AVISeg consists of 1,258 videos with an average duration of 62.6 seconds from YouTube and public audio-visual datasets, where 117 videos have been annotated by using an interactive semi-automatic labeling tool based on the Segment Anything Model (SAM). In addition, we present a simple baseline model for the AVIS task. Our new model introduces an audio branch and a cross-modal fusion module to Mask2Former to locate all sounding objects. Finally, we evaluate the proposed method using two backbones on AVISeg. We believe that AVIS will inspire the community towards a more comprehensive multi-modal understanding.

Goals are Enough: Inducing AdHoc cooperation among unseen Multi-Agent systems in IMFs

Intent-based management will play a critical role in achieving customers' expectations in the next-generation mobile networks. Traditional methods cannot perform efficient resource management since they tend to handle each expectation independently. Existing approaches, e.g., based on multi-agent reinforcement learning (MARL) allocate resources in an efficient fashion when there are conflicting expectations on the network slice. However, in reality, systems are often far more complex to be addressed by a standalone MARL formulation. Often there exists a hierarchical structure of intent fulfilment where multiple pre-trained, self-interested agents may need to be further orchestrated by a supervisor or controller agent. Such agents may arrive in the system adhoc, which then needs to be orchestrated along with other available agents. Retraining the whole system every time is often infeasible given the associated time and cost. Given the challenges, such adhoc coordination of pre-trained systems could be achieved through an intelligent supervisor agent which incentivizes pre-trained RL/MARL agents through sets of dynamic contracts (goals or bonuses) and encourages them to act as a cohesive unit towards fulfilling a global expectation. Some approaches use a rule-based supervisor agent and deploy the hierarchical constituent agents sequentially, based on human-coded rules. In the current work, we propose a framework whereby pre-trained agents can be orchestrated in parallel leveraging an AI-based supervisor agent. For this, we propose to use Adhoc-Teaming approaches which assign optimal goals to the MARL agents and incentivize them to exhibit certain desired behaviours. Results on the network emulator show that the proposed approach results in faster and improved fulfilment of expectations when compared to rule-based approaches and even generalizes to changes in environments.

LLM-in-the-loop: Leveraging Large Language Model for Thematic Analysis

Thematic analysis (TA) has been widely used for analyzing qualitative data in many disciplines and fields. To ensure reliable analysis, the same piece of data is typically assigned to at least two human coders. Moreover, to produce meaningful and useful analysis, human coders develop and deepen their data interpretation and coding over multiple iterations, making TA labor-intensive and time-consuming. Recently the emerging field of large language models (LLMs) research has shown that LLMs have the potential replicate human-like behavior in various tasks: in particular, LLMs outperform crowd workers on text-annotation tasks, suggesting an opportunity to leverage LLMs on TA. We propose a human-LLM collaboration framework (i.e., LLM-in-the-loop) to conduct TA with in-context learning (ICL). This framework provides the prompt to frame discussions with a LLM (e.g., GPT-3.5) to generate the final codebook for TA. We demonstrate the utility of this framework using survey datasets on the aspects of the music listening experience and the usage of a password manager. Results of the two case studies show that the proposed framework yields similar coding quality to that of human coders but reduces TA's labor and time demands.