From Perfect to Noisy World Simulation: Customizable Embodied Multi-modal Perturbations for SLAM Robustness Benchmarking

Embodied agents require robust navigation systems to operate in unstructured environments, making the robustness of Simultaneous Localization and Mapping (SLAM) models critical to embodied agent autonomy. While real-world datasets are invaluable, simulation-based benchmarks offer a scalable approach for robustness evaluations. However, the creation of a challenging and controllable noisy world with diverse perturbations remains under-explored. To this end, we propose a novel, customizable pipeline for noisy data synthesis, aimed at assessing the resilience of multi-modal SLAM models against various perturbations. The pipeline comprises a comprehensive taxonomy of sensor and motion perturbations for embodied multi-modal (specifically RGB-D) sensing, categorized by their sources and propagation order, allowing for procedural composition. We also provide a toolbox for synthesizing these perturbations, enabling the transformation of clean environments into challenging noisy simulations. Utilizing the pipeline, we instantiate the large-scale Noisy-Replica benchmark, which includes diverse perturbation types, to evaluate the risk tolerance of existing advanced RGB-D SLAM models. Our extensive analysis uncovers the susceptibilities of both neural (NeRF and Gaussian Splatting -based) and non-neural SLAM models to disturbances, despite their demonstrated accuracy in standard benchmarks. Our code is publicly available at https://github.com/Xiaohao-Xu/SLAM-under-Perturbation.

VLBiasBench: A Comprehensive Benchmark for Evaluating Bias in Large Vision-Language Model

The emergence of Large Vision-Language Models (LVLMs) marks significant strides towards achieving general artificial intelligence. However, these advancements are tempered by the outputs that often reflect biases, a concern not yet extensively investigated. Existing benchmarks are not sufficiently comprehensive in evaluating biases due to their limited data scale, single questioning format and narrow sources of bias. To address this problem, we introduce VLBiasBench, a benchmark aimed at evaluating biases in LVLMs comprehensively. In VLBiasBench, we construct a dataset encompassing nine distinct categories of social biases, including age, disability status, gender, nationality, physical appearance, race, religion, profession, social economic status and two intersectional bias categories (race x gender, and race x social economic status). To create a large-scale dataset, we use Stable Diffusion XL model to generate 46,848 high-quality images, which are combined with different questions to form 128,342 samples. These questions are categorized into open and close ended types, fully considering the sources of bias and comprehensively evaluating the biases of LVLM from multiple perspectives. We subsequently conduct extensive evaluations on 15 open-source models as well as one advanced closed-source model, providing some new insights into the biases revealing from these models. Our benchmark is available at https://github.com/Xiangkui-Cao/VLBiasBench.

Towards Deeper Understanding of PPR-based Embedding Approaches: A Topological Perspective

Node embedding learns low-dimensional vectors for nodes in the graph. Recent state-of-the-art embedding approaches take Personalized PageRank (PPR) as the proximity measure and factorize the PPR matrix or its adaptation to generate embeddings. However, little previous work analyzes what information is encoded by these approaches, and how the information correlates with their superb performance in downstream tasks. In this work, we first show that state-of-the-art embedding approaches that factorize a PPR-related matrix can be unified into a closed-form framework. Then, we study whether the embeddings generated by this strategy can be inverted to better recover the graph topology information than random-walk based embeddings. To achieve this, we propose two methods for recovering graph topology via PPR-based embeddings, including the analytical method and the optimization method. Extensive experimental results demonstrate that the embeddings generated by factorizing a PPR-related matrix maintain more topological information, such as common edges and community structures, than that generated by random walks, paving a new way to systematically comprehend why PPR-based node embedding approaches outperform random walk-based alternatives in various downstream tasks. To the best of our knowledge, this is the first work that focuses on the interpretability of PPR-based node embedding approaches.

SmoothGNN: Smoothing-based GNN for Unsupervised Node Anomaly Detection

The smoothing issue leads to indistinguishable node representations, which poses a significant challenge in the field of graph learning. However, this issue also presents an opportunity to reveal underlying properties behind different types of nodes, which have been overlooked in previous studies. Through empirical and theoretical analysis of real-world node anomaly detection (NAD) datasets, we observe that anomalous and normal nodes show different patterns in the smoothing process, which can be leveraged to enhance NAD tasks. Motivated by these findings, in this paper, we propose a novel unsupervised NAD framework. Specifically, according to our theoretical analysis, we design a Smoothing Learning Component. Subsequently, we introduce a Smoothing-aware Spectral Graph Neural Network, which establishes the connection between the spectral space of graphs and the smoothing process. Additionally, we demonstrate that the Dirichlet Energy, which reflects the smoothness of a graph, can serve as coefficients for node representations across different dimensions of the spectral space. Building upon these observations and analyses, we devise a novel anomaly measure for the NAD task. Extensive experiments on 9 real-world datasets show that SmoothGNN outperforms the best rival by an average of 14.66% in AUC and 7.28% in Precision, with 75x running time speed-up, which validates the effectiveness and efficiency of our framework.

KPG: Key Propagation Graph Generator for Rumor Detection based on Reinforcement Learning

The proliferation of rumors on social media platforms during significant events, such as the US elections and the COVID-19 pandemic, has a profound impact on social stability and public health. Existing approaches for rumor detection primarily rely on propagation graphs to enhance model effectiveness. However, the presence of noisy and irrelevant structures during the propagation process limits the efficacy of these approaches. To tackle this issue, techniques such as weight adjustment and data augmentation have been proposed. However, these techniques heavily depend on rich original propagation structures, thus hindering performance when dealing with rumors that lack sufficient propagation information in the early propagation stages. In this paper, we propose Key Propagation Graph Generator (KPG), a novel reinforcement learning-based rumor detection framework that generates contextually coherent and informative propagation patterns for events with insufficient topology information, while also identifies indicative substructures for events with redundant and noisy propagation structures. KPG consists of two key components: the Candidate Response Generator (CRG) and the Ending Node Selector (ENS). CRG learns the latent distribution from refined propagation patterns, filtering out noise and generating new candidates for ENS. Simultaneously, ENS identifies the most influential substructures within propagation graphs and generates training data for CRG. Moreover, we introduce an end-to-end framework that utilizes rewards to guide the entire training process via a pre-trained graph neural network. Extensive experiments conducted on four datasets demonstrate the superiority of our KPG compared to the state-of-the-art approaches.

Customizable Perturbation Synthesis for Robust SLAM Benchmarking

Robustness is a crucial factor for the successful deployment of robots in unstructured environments, particularly in the domain of Simultaneous Localization and Mapping (SLAM). Simulation-based benchmarks have emerged as a highly scalable approach for robustness evaluation compared to real-world data collection. However, crafting a challenging and controllable noisy world with diverse perturbations remains relatively under-explored. To this end, we propose a novel, customizable pipeline for noisy data synthesis, aimed at assessing the resilience of multi-modal SLAM models against various perturbations. This pipeline incorporates customizable hardware setups, software components, and perturbed environments. In particular, we introduce comprehensive perturbation taxonomy along with a perturbation composition toolbox, allowing the transformation of clean simulations into challenging noisy environments. Utilizing the pipeline, we instantiate the Robust-SLAM benchmark, which includes diverse perturbation types, to evaluate the risk tolerance of existing advanced multi-modal SLAM models. Our extensive analysis uncovers the susceptibilities of existing SLAM models to real-world disturbance, despite their demonstrated accuracy in standard benchmarks. Our perturbation synthesis toolbox, SLAM robustness evaluation pipeline, and Robust-SLAM benchmark will be made publicly available at https://github.com/Xiaohao-Xu/SLAM-under-Perturbation/.

Pre-trained Model Guided Fine-Tuning for Zero-Shot Adversarial Robustness

Large-scale pre-trained vision-language models like CLIP have demonstrated impressive performance across various tasks, and exhibit remarkable zero-shot generalization capability, while they are also vulnerable to imperceptible adversarial examples. Existing works typically employ adversarial training (fine-tuning) as a defense method against adversarial examples. However, direct application to the CLIP model may result in overfitting, compromising the model's capacity for generalization. In this paper, we propose Pre-trained Model Guided Adversarial Fine-Tuning (PMG-AFT) method, which leverages supervision from the original pre-trained model by carefully designing an auxiliary branch, to enhance the model's zero-shot adversarial robustness. Specifically, PMG-AFT minimizes the distance between the features of adversarial examples in the target model and those in the pre-trained model, aiming to preserve the generalization features already captured by the pre-trained model. Extensive Experiments on 15 zero-shot datasets demonstrate that PMG-AFT significantly outperforms the state-of-the-art method, improving the top-1 robust accuracy by an average of 4.99%. Furthermore, our approach consistently improves clean accuracy by an average of 8.72%.

Rayleigh Quotient Graph Neural Networks for Graph-level Anomaly Detection

Graph-level anomaly detection has gained significant attention as it finds many applications in various domains, such as cancer diagnosis and enzyme prediction. However, existing methods fail to capture the underlying properties of graph anomalies, resulting in unexplainable framework design and unsatisfying performance. In this paper, we take a step back and re-investigate the spectral differences between anomalous and normal graphs. Our main observation shows a significant disparity in the accumulated spectral energy between these two classes. Moreover, we prove that the accumulated spectral energy of the graph signal can be represented by its Rayleigh Quotient, indicating that the Rayleigh Quotient is a driving factor behind the anomalous properties of graphs. Motivated by this, we propose Rayleigh Quotient Graph Neural Network (RQGNN), the first spectral GNN for graph-level anomaly detection, providing a new perspective on exploring the inherent spectral features of anomalous graphs. Specifically, we introduce a novel framework that consists of two components: the Rayleigh Quotient learning component (RQL) and Chebyshev Wavelet GNN with RQ-pooling (CWGNN-RQ). RQL explicitly captures the Rayleigh Quotient of graphs and CWGNN-RQ implicitly explores the spectral space of graphs. Extensive experiments on 10 real-world datasets show that RQGNN outperforms the best rival by 6.74% in Macro-F1 score and 1.44% in AUC, demonstrating the effectiveness of our framework.

Instant Graph Neural Networks for Dynamic Graphs

Graph Neural Networks (GNNs) have been widely used for modeling graph-structured data. With the development of numerous GNN variants, recent years have witnessed groundbreaking results in improving the scalability of GNNs to work on static graphs with millions of nodes. However, how to instantly represent continuous changes of large-scale dynamic graphs with GNNs is still an open problem. Existing dynamic GNNs focus on modeling the periodic evolution of graphs, often on a snapshot basis. Such methods suffer from two drawbacks: first, there is a substantial delay for the changes in the graph to be reflected in the graph representations, resulting in losses on the model's accuracy; second, repeatedly calculating the representation matrix on the entire graph in each snapshot is predominantly time-consuming and severely limits the scalability. In this paper, we propose Instant Graph Neural Network (InstantGNN), an incremental computation approach for the graph representation matrix of dynamic graphs. Set to work with dynamic graphs with the edge-arrival model, our method avoids time-consuming, repetitive computations and allows instant updates on the representation and instant predictions. Graphs with dynamic structures and dynamic attributes are both supported. The upper bounds of time complexity of those updates are also provided. Furthermore, our method provides an adaptive training strategy, which guides the model to retrain at moments when it can make the greatest performance gains. We conduct extensive experiments on several real-world and synthetic datasets. Empirical results demonstrate that our model achieves state-of-the-art accuracy while having orders-of-magnitude higher efficiency than existing methods.

A Bilingual, OpenWorld Video Text Dataset and End-to-end Video Text Spotter with Transformer

Most existing video text spotting benchmarks focus on evaluating a single language and scenario with limited data. In this work, we introduce a large-scale, Bilingual, Open World Video text benchmark dataset(BOVText). There are four features for BOVText. Firstly, we provide 2,000+ videos with more than 1,750,000+ frames, 25 times larger than the existing largest dataset with incidental text in videos. Secondly, our dataset covers 30+ open categories with a wide selection of various scenarios, e.g., Life Vlog, Driving, Movie, etc. Thirdly, abundant text types annotation (i.e., title, caption or scene text) are provided for the different representational meanings in video. Fourthly, the BOVText provides bilingual text annotation to promote multiple cultures live and communication. Besides, we propose an end-to-end video text spotting framework with Transformer, termed TransVTSpotter, which solves the multi-orient text spotting in video with a simple, but efficient attention-based query-key mechanism. It applies object features from the previous frame as a tracking query for the current frame and introduces a rotation angle prediction to fit the multiorient text instance. On ICDAR2015(video), TransVTSpotter achieves the state-of-the-art performance with 44.1% MOTA, 9 fps. The dataset and code of TransVTSpotter can be found at github:com=weijiawu=BOVText and github:com=weijiawu=TransVTSpotter, respectively.