Cross-Embodiment Robotic Manipulation Synthesis via Guided Demonstrations through CycleVAE and Human Behavior Transformer

Cross-embodiment robotic manipulation synthesis for complicated tasks is challenging, partially due to the scarcity of paired cross-embodiment datasets and the impediment of designing intricate controllers. Inspired by robotic learning via guided human expert demonstration, we here propose a novel cross-embodiment robotic manipulation algorithm via CycleVAE and human behavior transformer. First, we utilize unsupervised CycleVAE together with a bidirectional subspace alignment algorithm to align latent motion sequences between cross-embodiments. Second, we propose a casual human behavior transformer design to learn the intrinsic motion dynamics of human expert demonstrations. During the test case, we leverage the proposed transformer for the human expert demonstration generation, which will be aligned using CycleVAE for the final human-robotic manipulation synthesis. We validated our proposed algorithm through extensive experiments using a dexterous robotic manipulator with the robotic hand. Our results successfully generate smooth trajectories across intricate tasks, outperforming prior learning-based robotic motion planning algorithms. These results have implications for performing unsupervised cross-embodiment alignment and future autonomous robotics design. Complete video demonstrations of our experiments can be found in https://sites.google.com/view/humanrobots/home.

Building Machine Learning Challenges for Anomaly Detection in Science

Scientific discoveries are often made by finding a pattern or object that was not predicted by the known rules of science. Oftentimes, these anomalous events or objects that do not conform to the norms are an indication that the rules of science governing the data are incomplete, and something new needs to be present to explain these unexpected outliers. The challenge of finding anomalies can be confounding since it requires codifying a complete knowledge of the known scientific behaviors and then projecting these known behaviors on the data to look for deviations. When utilizing machine learning, this presents a particular challenge since we require that the model not only understands scientific data perfectly but also recognizes when the data is inconsistent and out of the scope of its trained behavior. In this paper, we present three datasets aimed at developing machine learning-based anomaly detection for disparate scientific domains covering astrophysics, genomics, and polar science. We present the different datasets along with a scheme to make machine learning challenges around the three datasets findable, accessible, interoperable, and reusable (FAIR). Furthermore, we present an approach that generalizes to future machine learning challenges, enabling the possibility of large, more compute-intensive challenges that can ultimately lead to scientific discovery.

Enhancing Subject-Independent Accuracy in fNIRS-based Brain-Computer Interfaces with Optimized Channel Selection

Achieving high subject-independent accuracy in functional near-infrared spectroscopy (fNIRS)-based brain-computer interfaces (BCIs) remains a challenge, particularly when minimizing the number of channels. This study proposes a novel feature extraction scheme and a Pearson correlation-based channel selection algorithm to enhance classification accuracy while reducing hardware complexity. Using an open-access fNIRS dataset, our method improved average accuracy by 28.09% compared to existing approaches, achieving a peak subject-independent accuracy of 95.98% with only two channels. These results demonstrate the potential of our optimized feature extraction and channel selection methods for developing efficient, subject-independent fNIRS-based BCI systems.

Neural Antidote: Class-Wise Prompt Tuning for Purifying Backdoors in Pre-trained Vision-Language Models

While pre-trained Vision-Language Models (VLMs) such as CLIP exhibit excellent representational capabilities for multimodal data, recent studies have shown that they are vulnerable to backdoor attacks. To alleviate the threat, existing defense strategies primarily focus on fine-tuning the entire suspicious model, yet offer only marginal resistance to state-of-the-art attacks and often result in a decrease in clean accuracy, particularly in data-limited scenarios. Their failure may be attributed to the mismatch between insufficient fine-tuning data and massive parameters in VLMs. To address this challenge, we propose Class-wise Backdoor Prompt Tuning (CBPT) defense, an efficient and effective method that operates on the text prompts to indirectly purify the poisoned VLMs. Specifically, we first employ the advanced contrastive learning via our carefully crafted positive and negative samples, to effectively invert the backdoor triggers that are potentially adopted by the attacker. Once the dummy trigger is established, we utilize the efficient prompt tuning technique to optimize these class-wise text prompts for modifying the model's decision boundary to further reclassify the feature regions of backdoor triggers. Extensive experiments demonstrate that CBPT significantly mitigates backdoor threats while preserving model utility, e.g. an average Clean Accuracy (CA) of 58.86\% and an Attack Success Rate (ASR) of 0.39\% across seven mainstream backdoor attacks. These results underscore the superiority of our prompt purifying design to strengthen model robustness against backdoor attacks.

Going Beyond Feature Similarity: Effective Dataset distillation based on Class-aware Conditional Mutual Information

Dataset distillation (DD) aims to minimize the time and memory consumption needed for training deep neural networks on large datasets, by creating a smaller synthetic dataset that has similar performance to that of the full real dataset. However, current dataset distillation methods often result in synthetic datasets that are excessively difficult for networks to learn from, due to the compression of a substantial amount of information from the original data through metrics measuring feature similarity, e,g., distribution matching (DM). In this work, we introduce conditional mutual information (CMI) to assess the class-aware complexity of a dataset and propose a novel method by minimizing CMI. Specifically, we minimize the distillation loss while constraining the class-aware complexity of the synthetic dataset by minimizing its empirical CMI from the feature space of pre-trained networks, simultaneously. Conducting on a thorough set of experiments, we show that our method can serve as a general regularization method to existing DD methods and improve the performance and training efficiency.

Generative Adapter: Contextualizing Language Models in Parameters with A Single Forward Pass

Large language models (LMs) are typically adapted to improve performance on new contexts (\eg text prompts that define new tasks or domains) through fine-tuning or prompting. However, there is an accuracy compute tradeoff -- fine-tuning incurs significant training cost and prompting increases inference overhead. We introduce $GenerativeAdapter$, an effective and efficient adaptation method that directly maps new contexts to low-rank LM adapters, thereby significantly reducing inference overhead with no need for finetuning. The adapter generator is trained via self-supervised learning, and can be used to adapt a single frozen LM for any new task simply by mapping the associated task or domain context to a new adapter. We apply $GenerativeAdapter$ to two pretrained LMs (Mistral-7B-Instruct and Llama2-7B-Chat) and evaluate the adapted models in three adaption scenarios: knowledge acquisition from documents, learning from demonstrations, and personalization for users. In StreamingQA, our approach is effective in injecting knowledge into the LM's parameters, achieving a 63.5% improvement in F1 score over the model with supervised fine-tuning (from $19.5$ to $31.5$) for contexts as long as 32K tokens. In the MetaICL in-context learning evaluation, our method achieves an average accuracy of $44.9$ across 26 tasks, outperforming the base model. On MSC, our method proves to be highly competitive in memorizing user information from conversations with a 4x reduction in computation and memory costs compared to prompting with full conversation history. Together, these results suggest that $GenerativeAdapter$ should allow for general adaption to a wide range of different contexts.

CALoR: Towards Comprehensive Model Inversion Defense

Model Inversion Attacks (MIAs) aim at recovering privacy-sensitive training data from the knowledge encoded in the released machine learning models. Recent advances in the MIA field have significantly enhanced the attack performance under multiple scenarios, posing serious privacy risks of Deep Neural Networks (DNNs). However, the development of defense strategies against MIAs is relatively backward to resist the latest MIAs and existing defenses fail to achieve further trade-off between model utility and model robustness. In this paper, we provide an in-depth analysis from the perspective of intrinsic vulnerabilities of MIAs, comprehensively uncovering the weaknesses inherent in the basic pipeline, which are partially investigated in the previous defenses. Building upon these new insights, we propose a robust defense mechanism, integrating Confidence Adaptation and Low-Rank compression(CALoR). Our method includes a novel robustness-enhanced classification loss specially-designed for model inversion defenses and reveals the extraordinary effectiveness of compressing the classification header. With CALoR, we can mislead the optimization objective, reduce the leaked information and impede the backpropagation of MIAs, thus mitigating the risk of privacy leakage. Extensive experimental results demonstrate that our method achieves state-of-the-art (SOTA) defense performance against MIAs and exhibits superior generalization to existing defenses across various scenarios.

MIBench: A Comprehensive Benchmark for Model Inversion Attack and Defense

Model Inversion (MI) attacks aim at leveraging the output information of target models to reconstruct privacy-sensitive training data, raising widespread concerns on privacy threats of Deep Neural Networks (DNNs). Unfortunately, in tandem with the rapid evolution of MI attacks, the lack of a comprehensive, aligned, and reliable benchmark has emerged as a formidable challenge. This deficiency leads to inadequate comparisons between different attack methods and inconsistent experimental setups. In this paper, we introduce the first practical benchmark for model inversion attacks and defenses to address this critical gap, which is named \textit{MIBench}. This benchmark serves as an extensible and reproducible modular-based toolbox and currently integrates a total of 16 state-of-the-art attack and defense methods. Moreover, we furnish a suite of assessment tools encompassing 9 commonly used evaluation protocols to facilitate standardized and fair evaluation and analysis. Capitalizing on this foundation, we conduct extensive experiments from multiple perspectives to holistically compare and analyze the performance of various methods across different scenarios, which overcomes the misalignment issues and discrepancy prevalent in previous works. Based on the collected attack methods and defense strategies, we analyze the impact of target resolution, defense robustness, model predictive power, model architectures, transferability and loss function. Our hope is that this \textit{MIBench} could provide a unified, practical and extensible toolbox and is widely utilized by researchers in the field to rigorously test and compare their novel methods, ensuring equitable evaluations and thereby propelling further advancements in the future development.

Multi-frequency Electrical Impedance Tomography Reconstruction with Multi-Branch Attention Image Prior

Multi-frequency Electrical Impedance Tomography (mfEIT) is a promising biomedical imaging technique that estimates tissue conductivities across different frequencies. Current state-of-the-art (SOTA) algorithms, which rely on supervised learning and Multiple Measurement Vectors (MMV), require extensive training data, making them time-consuming, costly, and less practical for widespread applications. Moreover, the dependency on training data in supervised MMV methods can introduce erroneous conductivity contrasts across frequencies, posing significant concerns in biomedical applications. To address these challenges, we propose a novel unsupervised learning approach based on Multi-Branch Attention Image Prior (MAIP) for mfEIT reconstruction. Our method employs a carefully designed Multi-Branch Attention Network (MBA-Net) to represent multiple frequency-dependent conductivity images and simultaneously reconstructs mfEIT images by iteratively updating its parameters. By leveraging the implicit regularization capability of the MBA-Net, our algorithm can capture significant inter- and intra-frequency correlations, enabling robust mfEIT reconstruction without the need for training data. Through simulation and real-world experiments, our approach demonstrates performance comparable to, or better than, SOTA algorithms while exhibiting superior generalization capability. These results suggest that the MAIP-based method can be used to improve the reliability and applicability of mfEIT in various settings.

LSVOS Challenge Report: Large-scale Complex and Long Video Object Segmentation

Despite the promising performance of current video segmentation models on existing benchmarks, these models still struggle with complex scenes. In this paper, we introduce the 6th Large-scale Video Object Segmentation (LSVOS) challenge in conjunction with ECCV 2024 workshop. This year's challenge includes two tasks: Video Object Segmentation (VOS) and Referring Video Object Segmentation (RVOS). In this year, we replace the classic YouTube-VOS and YouTube-RVOS benchmark with latest datasets MOSE, LVOS, and MeViS to assess VOS under more challenging complex environments. This year's challenge attracted 129 registered teams from more than 20 institutes across over 8 countries. This report include the challenge and dataset introduction, and the methods used by top 7 teams in two tracks. More details can be found in our homepage https://lsvos.github.io/.