arXiv subjects

Yiming Li

Publications and source records attributed to Yiming Li.

At least 217 records · Page 12Linked to original sources

arXiv2024

Which Model Generated This Image? A Model-Agnostic Approach for Origin Attribution

Recent progress in visual generative models enables the generation of high-quality images. To prevent the misuse of generated images, it is important to identify the origin model that generates them. In this work, we study the origin attribution of generated images in a practical setting where only a few images generated by a source model are available and the source model cannot be accessed. The goal is to check if a given image is generated by the source model. We first formulate this problem as a few-shot one-class classification task. To solve the task, we propose OCC-CLIP, a CLIP-based framework for few-shot one-class classification, enabling the identification of an image's source model, even among multiple candidates. Extensive experiments corresponding to various generative models verify the effectiveness of our OCC-CLIP framework. Furthermore, an experiment based on the recently released DALL-E 3 API verifies the real-world applicability of our solution.

cs.CV↗

arXiv2024

Improving Entity Recognition Using Ensembles of Deep Learning and Fine-tuned Large Language Models: A Case Study on Adverse Event Extraction from Multiple Sources

Adverse event (AE) extraction following COVID-19 vaccines from text data is crucial for monitoring and analyzing the safety profiles of immunizations. Traditional deep learning models are adept at learning intricate feature representations and dependencies in sequential data, but often require extensive labeled data. In contrast, large language models (LLMs) excel in understanding contextual information, but exhibit unstable performance on named entity recognition tasks, possibly due to their broad but unspecific training. This study aims to evaluate the effectiveness of LLMs and traditional deep learning models in AE extraction, and to assess the impact of ensembling these models on performance. In this study, we utilized reports and posts from the VAERS (n=621), Twitter (n=9,133), and Reddit (n=131) as our corpora. Our goal was to extract three types of entities: "vaccine", "shot", and "ae". We explored and fine-tuned (except GPT-4) multiple LLMs, including GPT-2, GPT-3.5, GPT-4, and Llama-2, as well as traditional deep learning models like RNN and BioBERT. To enhance performance, we created ensembles of the three models with the best performance. For evaluation, we used strict and relaxed F1 scores to evaluate the performance for each entity type, and micro-average F1 was used to assess the overall performance. The ensemble model achieved the highest performance in "vaccine", "shot", and "ae" with strict F1-scores of 0.878, 0.930, and 0.925, respectively, along with a micro-average score of 0.903. In conclusion, this study demonstrates the effectiveness and robustness of ensembling fine-tuned traditional deep learning models and LLMs, for extracting AE-related information. This study contributes to the advancement of biomedical natural language processing, providing valuable insights into improving AE extraction from text data for pharmacovigilance and public health surveillance.

cs.CL↗

arXiv2024

Tell Me Where You Are: Multimodal LLMs Meet Place Recognition

Large language models (LLMs) exhibit a variety of promising capabilities in robotics, including long-horizon planning and commonsense reasoning. However, their performance in place recognition is still underexplored. In this work, we introduce multimodal LLMs (MLLMs) to visual place recognition (VPR), where a robot must localize itself using visual observations. Our key design is to use vision-based retrieval to propose several candidates and then leverage language-based reasoning to carefully inspect each candidate for a final decision. Specifically, we leverage the robust visual features produced by off-the-shelf vision foundation models (VFMs) to obtain several candidate locations. We then prompt an MLLM to describe the differences between the current observation and each candidate in a pairwise manner, and reason about the best candidate based on these descriptions. Our results on three datasets demonstrate that integrating the general-purpose visual features from VFMs with the reasoning capabilities of MLLMs already provides an effective place recognition solution, without any VPR-specific supervised training. We believe our work can inspire new possibilities for applying and designing foundation models, i.e., VFMs, LLMs, and MLLMs, to enhance the localization and navigation of mobile robots.

cs.CV↗

arXiv2024

Multiagent Multitraversal Multimodal Self-Driving: Open MARS Dataset

Large-scale datasets have fueled recent advancements in AI-based autonomous vehicle research. However, these datasets are usually collected from a single vehicle's one-time pass of a certain location, lacking multiagent interactions or repeated traversals of the same place. Such information could lead to transformative enhancements in autonomous vehicles' perception, prediction, and planning capabilities. To bridge this gap, in collaboration with the self-driving company May Mobility, we present the MARS dataset which unifies scenarios that enable MultiAgent, multitraveRSal, and multimodal autonomous vehicle research. More specifically, MARS is collected with a fleet of autonomous vehicles driving within a certain geographical area. Each vehicle has its own route and different vehicles may appear at nearby locations. Each vehicle is equipped with a LiDAR and surround-view RGB cameras. We curate two subsets in MARS: one facilitates collaborative driving with multiple vehicles simultaneously present at the same location, and the other enables memory retrospection through asynchronous traversals of the same location by multiple vehicles. We conduct experiments in place recognition and neural reconstruction. More importantly, MARS introduces new research opportunities and challenges such as multitraversal 3D reconstruction, multiagent perception, and unsupervised object discovery. Our data and codes can be found at https://ai4ce.github.io/MARS/.

cs.CV↗

arXiv2024

Backdoor Attack with Sparse and Invisible Trigger

Deep neural networks (DNNs) are vulnerable to backdoor attacks, where the adversary manipulates a small portion of training data such that the victim model predicts normally on the benign samples but classifies the triggered samples as the target class. The backdoor attack is an emerging yet threatening training-phase threat, leading to serious risks in DNN-based applications. In this paper, we revisit the trigger patterns of existing backdoor attacks. We reveal that they are either visible or not sparse and therefore are not stealthy enough. More importantly, it is not feasible to simply combine existing methods to design an effective sparse and invisible backdoor attack. To address this problem, we formulate the trigger generation as a bi-level optimization problem with sparsity and invisibility constraints and propose an effective method to solve it. The proposed method is dubbed sparse and invisible backdoor attack (SIBA). We conduct extensive experiments on benchmark datasets under different settings, which verify the effectiveness of our attack and its resistance to existing backdoor defenses. The codes for reproducing main experiments are available at \url{https://github.com/YinghuaGao/SIBA}.

cs.CV↗

arXiv2024

Configuration Space Distance Fields for Manipulation Planning

The signed distance field is a popular implicit shape representation in robotics, providing geometric information about objects and obstacles in a form that can easily be combined with control, optimization and learning techniques. Most often, SDFs are used to represent distances in task space, which corresponds to the familiar notion of distances that we perceive in our 3D world. However, SDFs can mathematically be used in other spaces, including robot configuration spaces. For a robot manipulator, this configuration space typically corresponds to the joint angles for each articulation of the robot. While it is customary in robot planning to express which portions of the configuration space are free from collision with obstacles, it is less common to think of this information as a distance field in the configuration space. In this paper, we demonstrate the potential of considering SDFs in the robot configuration space for optimization, which we call the configuration space distance field. Similarly to the use of SDF in task space, CDF provides an efficient joint angle distance query and direct access to the derivatives. Most approaches split the overall computation with one part in task space followed by one part in configuration space. Instead, CDF allows the implicit structure to be leveraged by control, optimization, and learning problems in a unified manner. In particular, we propose an efficient algorithm to compute and fuse CDFs that can be generalized to arbitrary scenes. A corresponding neural CDF representation using multilayer perceptrons is also presented to obtain a compact and continuous representation while improving computation efficiency. We demonstrate the effectiveness of CDF with planar obstacle avoidance examples and with a 7-axis Franka robot in inverse kinematics and manipulation planning tasks.

cs.RO↗

arXiv2024

IBD-PSC: Input-level Backdoor Detection via Parameter-oriented Scaling Consistency

Deep neural networks (DNNs) are vulnerable to backdoor attacks, where adversaries can maliciously trigger model misclassifications by implanting a hidden backdoor during model training. This paper proposes a simple yet effective input-level backdoor detection (dubbed IBD-PSC) as a `firewall' to filter out malicious testing images. Our method is motivated by an intriguing phenomenon, i.e., parameter-oriented scaling consistency (PSC), where the prediction confidences of poisoned samples are significantly more consistent than those of benign ones when amplifying model parameters. In particular, we provide theoretical analysis to safeguard the foundations of the PSC phenomenon. We also design an adaptive method to select BN layers to scale up for effective detection. Extensive experiments are conducted on benchmark datasets, verifying the effectiveness and efficiency of our IBD-PSC method and its resistance to adaptive attacks. Codes are available at \href{https://github.com/THUYimingLi/BackdoorBox}{BackdoorBox}.

cs.LG↗

arXiv2024

FedSheafHN: Personalized Federated Learning on Graph-structured Data

Personalized subgraph Federated Learning (FL) is a task that customizes Graph Neural Networks (GNNs) to individual client needs, accommodating diverse data distributions. However, applying hypernetworks in FL, while aiming to facilitate model personalization, often encounters challenges due to inadequate representation of client-specific characteristics. To overcome these limitations, we propose a model called FedSheafHN, using enhanced collaboration graph embedding and efficient personalized model parameter generation. Specifically, our model embeds each client's local subgraph into a server-constructed collaboration graph. We utilize sheaf diffusion in the collaboration graph to learn client representations. Our model improves the integration and interpretation of complex client characteristics. Furthermore, our model ensures the generation of personalized models through advanced hypernetworks optimized for parallel operations across clients. Empirical evaluations demonstrate that FedSheafHN outperforms existing methods in most scenarios, in terms of client model performance on various graph-structured datasets. It also has fast model convergence and effective new clients generalization.

cs.LG↗

arXiv2024

Beaconless Auto-Alignment for Single-Wavelength 5 Tbit/s Mode-Division Multiplexing Free-Space Optical Communications

Mode-division multiplexing has shown its ability to significantly increase the capacity of free-space optical communications. An accurate alignment is crucial to enable such links due to possible performance degradation induced by mode crosstalk and narrow beam divergence. Conventionally, a beacon beam is necessary for system alignment due to multiple local maximums in the mode-division multiplexed beam profile. However, the beacon beam introduces excess system complexity, power consumption, and alignment errors. Here we demonstrate a beaconless system with significantly higher alignment accuracy and faster acquisition. This system also excludes excess complexity, power consumption, and alignment errors, facilitating simplified system calibration and supporting a record-high 5.14 Tbit/s line rate in a single-wavelength free-space optical link. We anticipate our paper to be a starting point for more sophisticated alignment scenarios in future multi-Terabit mode-division multiplexing free-space optical communications for long-distance applications with a generalised mode basis.

physics.optics↗

arXiv2024

Memorize What Matters: Emergent Scene Decomposition from Multitraverse

Humans naturally retain memories of permanent elements, while ephemeral moments often slip through the cracks of memory. This selective retention is crucial for robotic perception, localization, and mapping. To endow robots with this capability, we introduce 3D Gaussian Mapping (3DGM), a self-supervised, camera-only offline mapping framework grounded in 3D Gaussian Splatting. 3DGM converts multitraverse RGB videos from the same region into a Gaussian-based environmental map while concurrently performing 2D ephemeral object segmentation. Our key observation is that the environment remains consistent across traversals, while objects frequently change. This allows us to exploit self-supervision from repeated traversals to achieve environment-object decomposition. More specifically, 3DGM formulates multitraverse environmental mapping as a robust differentiable rendering problem, treating pixels of the environment and objects as inliers and outliers, respectively. Using robust feature distillation, feature residuals mining, and robust optimization, 3DGM jointly performs 2D segmentation and 3D mapping without human intervention. We build the Mapverse benchmark, sourced from the Ithaca365 and nuPlan datasets, to evaluate our method in unsupervised 2D segmentation, 3D reconstruction, and neural rendering. Extensive results verify the effectiveness and potential of our method for self-driving and robotics.

cs.CV↗

arXiv2024

Nearest is Not Dearest: Towards Practical Defense against Quantization-conditioned Backdoor Attacks

Model quantization is widely used to compress and accelerate deep neural networks. However, recent studies have revealed the feasibility of weaponizing model quantization via implanting quantization-conditioned backdoors (QCBs). These special backdoors stay dormant on released full-precision models but will come into effect after standard quantization. Due to the peculiarity of QCBs, existing defenses have minor effects on reducing their threats or are even infeasible. In this paper, we conduct the first in-depth analysis of QCBs. We reveal that the activation of existing QCBs primarily stems from the nearest rounding operation and is closely related to the norms of neuron-wise truncation errors (i.e., the difference between the continuous full-precision weights and its quantized version). Motivated by these insights, we propose Error-guided Flipped Rounding with Activation Preservation (EFRAP), an effective and practical defense against QCBs. Specifically, EFRAP learns a non-nearest rounding strategy with neuron-wise error norm and layer-wise activation preservation guidance, flipping the rounding strategies of neurons crucial for backdoor effects but with minimal impact on clean accuracy. Extensive evaluations on benchmark datasets demonstrate that our EFRAP can defeat state-of-the-art QCB attacks under various settings. Code is available at https://github.com/AntigoneRandy/QuantBackdoor_EFRAP.

cs.CR↗

arXiv2024

BadActs: A Universal Backdoor Defense in the Activation Space

Backdoor attacks pose an increasingly severe security threat to Deep Neural Networks (DNNs) during their development stage. In response, backdoor sample purification has emerged as a promising defense mechanism, aiming to eliminate backdoor triggers while preserving the integrity of the clean content in the samples. However, existing approaches have been predominantly focused on the word space, which are ineffective against feature-space triggers and significantly impair performance on clean data. To address this, we introduce a universal backdoor defense that purifies backdoor samples in the activation space by drawing abnormal activations towards optimized minimum clean activation distribution intervals. The advantages of our approach are twofold: (1) By operating in the activation space, our method captures from surface-level information like words to higher-level semantic concepts such as syntax, thus counteracting diverse triggers; (2) the fine-grained continuous nature of the activation space allows for more precise preservation of clean content while removing triggers. Furthermore, we propose a detection module based on statistical information of abnormal activations, to achieve a better trade-off between clean accuracy and defending performance.

cs.CR↗

arXiv2024

Not All Prompts Are Secure: A Switchable Backdoor Attack Against Pre-trained Vision Transformers

Given the power of vision transformers, a new learning paradigm, pre-training and then prompting, makes it more efficient and effective to address downstream visual recognition tasks. In this paper, we identify a novel security threat towards such a paradigm from the perspective of backdoor attacks. Specifically, an extra prompt token, called the switch token in this work, can turn the backdoor mode on, i.e., converting a benign model into a backdoored one. Once under the backdoor mode, a specific trigger can force the model to predict a target class. It poses a severe risk to the users of cloud API, since the malicious behavior can not be activated and detected under the benign mode, thus making the attack very stealthy. To attack a pre-trained model, our proposed attack, named SWARM, learns a trigger and prompt tokens including a switch token. They are optimized with the clean loss which encourages the model always behaves normally even the trigger presents, and the backdoor loss that ensures the backdoor can be activated by the trigger when the switch is on. Besides, we utilize the cross-mode feature distillation to reduce the effect of the switch token on clean samples. The experiments on diverse visual recognition tasks confirm the success of our switchable backdoor attack, i.e., achieving 95%+ attack success rate, and also being hard to be detected and removed. Our code is available at https://github.com/20000yshust/SWARM.

cs.CV↗

arXiv2024

Online Learning of Continuous Signed Distance Fields Using Piecewise Polynomials

Reasoning about distance is indispensable for establishing or avoiding contact in manipulation tasks. To this end, we present an online approach for learning implicit representations of signed distance using piecewise polynomial basis functions. Starting from an arbitrary prior shape, our method incrementally constructs a continuous and smooth distance representation from incoming surface points, with analytical access to gradient information. The underlying model does not store training data for prediction, and its performance can be balanced through interpretable hyperparameters such as polynomial degree and number of segments. We assess the accuracy of the incrementally learned model on a set of household objects and compare it to neural network and Gaussian process counterparts. The utility of intermediate results and analytical gradients is further demonstrated in a physical experiment. For code and video, see https://sites.google.com/view/pp-sdf/.

cs.RO↗

arXiv2024

Relation Extraction Using Large Language Models: A Case Study on Acupuncture Point Locations

In acupuncture therapy, the accurate location of acupoints is essential for its effectiveness. The advanced language understanding capabilities of large language models (LLMs) like Generative Pre-trained Transformers (GPT) present a significant opportunity for extracting relations related to acupoint locations from textual knowledge sources. This study aims to compare the performance of GPT with traditional deep learning models (Long Short-Term Memory (LSTM) and Bidirectional Encoder Representations from Transformers for Biomedical Text Mining (BioBERT)) in extracting acupoint-related location relations and assess the impact of pretraining and fine-tuning on GPT's performance. We utilized the World Health Organization Standard Acupuncture Point Locations in the Western Pacific Region (WHO Standard) as our corpus, which consists of descriptions of 361 acupoints. Five types of relations ('direction_of,' 'distance_of,' 'part_of,' 'near_acupoint,' and 'located_near') (n= 3,174) between acupoints were annotated. Five models were compared: BioBERT, LSTM, pre-trained GPT-3.5, fine-tuned GPT-3.5, as well as pre-trained GPT-4. Performance metrics included micro-average exact match precision, recall, and F1 scores. Our results demonstrate that fine-tuned GPT-3.5 consistently outperformed other models in F1 scores across all relation types. Overall, it achieved the highest micro-average F1 score of 0.92. This study underscores the effectiveness of LLMs like GPT in extracting relations related to acupoint locations, with implications for accurately modeling acupuncture knowledge and promoting standard implementation in acupuncture training and practice. The findings also contribute to advancing informatics applications in traditional and complementary medicine, showcasing the potential of LLMs in natural language processing.

cs.CL↗

arXiv2024

Logarithm laws for BCZ map

We present the logarithm laws for the partial sum of the itinerary function over non-periodic BCZ orbits, utilizing the even and odd Diophantine exponent defined by Athreya-Margulis. We also give a detailed description of the BCZ map and its excursions.

math.DS↗

arXiv2024

From BCZ map to a discretized analog of the RH

We investigate the properties of the BCZ map. Based on our findings, we define the moduli space associated with its excursions. Subsequently, we utilize the framework we build to establish a discretized analog of the Riemann hypothesis (RH) that holds in a stronger sense from a dynamical perspective. The analog is founded upon a reformulation of the RH, specifically in terms of estimates of L1-averages of BCZ cocycle along periodic orbits of the BCZ map. The primary tool we will rely on is the generalized arithmetic sequence, which we will define and discuss.

math.GM↗

arXiv2024

Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation

In this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic chains. Our method employs a combination of Bernstein polynomials to encode the signed distance for each robot link with high accuracy and efficiency while ensuring the mathematical continuity and differentiability of SDFs. We further leverage the kinematics chain of the robot to produce the SDF representation in joint space, allowing robust distance queries in arbitrary joint configurations. The proposed RDF representation is differentiable and smooth in both task and joint spaces, enabling its direct integration to optimization problems. Additionally, the 0-level set of the robot corresponds to the robot surface, which can be seamlessly integrated into whole-body manipulation tasks. We conduct various experiments in both simulations and with 7-axis Franka Emika robots, comparing against baseline methods, and demonstrating its effectiveness in collision avoidance and whole-body manipulation tasks. Project page: https://sites.google.com/view/lrdf/home

cs.RO↗