Act in Collusion: A Persistent Distributed Multi-Target Backdoor in Federated Learning

Federated learning, a novel paradigm designed to protect data privacy, is vulnerable to backdoor attacks due to its distributed nature. Current research often designs attacks based on a single attacker with a single backdoor, overlooking more realistic and complex threats in federated learning. We propose a more practical threat model for federated learning: the distributed multi-target backdoor. In this model, multiple attackers control different clients, embedding various triggers and targeting different classes, collaboratively implanting backdoors into the global model via central aggregation. Empirical validation shows that existing methods struggle to maintain the effectiveness of multiple backdoors in the global model. Our key insight is that similar backdoor triggers cause parameter conflicts and injecting new backdoors disrupts gradient directions, significantly weakening some backdoors performance. To solve this, we propose a Distributed Multi-Target Backdoor Attack (DMBA), ensuring efficiency and persistence of backdoors from different malicious clients. To avoid parameter conflicts, we design a multi-channel dispersed frequency trigger strategy to maximize trigger differences. To mitigate gradient interference, we introduce backdoor replay in local training to neutralize conflicting gradients. Extensive validation shows that 30 rounds after the attack, Attack Success Rates of three different backdoors from various clients remain above 93%. The code will be made publicly available after the review period.

GS-EVT: Cross-Modal Event Camera Tracking based on Gaussian Splatting

Reliable self-localization is a foundational skill for many intelligent mobile platforms. This paper explores the use of event cameras for motion tracking thereby providing a solution with inherent robustness under difficult dynamics and illumination. In order to circumvent the challenge of event camera-based mapping, the solution is framed in a cross-modal way. It tracks a map representation that comes directly from frame-based cameras. Specifically, the proposed method operates on top of gaussian splatting, a state-of-the-art representation that permits highly efficient and realistic novel view synthesis. The key of our approach consists of a novel pose parametrization that uses a reference pose plus first order dynamics for local differential image rendering. The latter is then compared against images of integrated events in a staggered coarse-to-fine optimization scheme. As demonstrated by our results, the realistic view rendering ability of gaussian splatting leads to stable and accurate tracking across a variety of both publicly available and newly recorded data sequences.

Multi-robot Task Allocation and Path Planning with Maximum Range Constraints

This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly, we developed a fast path planner to solve global paths efficiently. Subsequently, we propose an innovative auction-based approach that integrates our path planner into the auction phase for reward computation while considering the robots' range limits. This method accounts for extra obstacle-avoiding travel distances rather than ideal straight-line distances, resolving the coupling between task allocation and path planning. Additionally, to avoid redundant computations during iterations, we implemented a lazy auction strategy to speed up the convergence of the task allocation. Finally, we validated the proposed method's effectiveness and application potential through extensive simulation and real-world experiments. The implementation code for our method will be available at https://github.com/wuuya1/RangeTAP.

CMoralEval: A Moral Evaluation Benchmark for Chinese Large Language Models

What a large language model (LLM) would respond in ethically relevant context? In this paper, we curate a large benchmark CMoralEval for morality evaluation of Chinese LLMs. The data sources of CMoralEval are two-fold: 1) a Chinese TV program discussing Chinese moral norms with stories from the society and 2) a collection of Chinese moral anomies from various newspapers and academic papers on morality. With these sources, we aim to create a moral evaluation dataset characterized by diversity and authenticity. We develop a morality taxonomy and a set of fundamental moral principles that are not only rooted in traditional Chinese culture but also consistent with contemporary societal norms. To facilitate efficient construction and annotation of instances in CMoralEval, we establish a platform with AI-assisted instance generation to streamline the annotation process. These help us curate CMoralEval that encompasses both explicit moral scenarios (14,964 instances) and moral dilemma scenarios (15,424 instances), each with instances from different data sources. We conduct extensive experiments with CMoralEval to examine a variety of Chinese LLMs. Experiment results demonstrate that CMoralEval is a challenging benchmark for Chinese LLMs. The dataset is publicly available at \url{https://github.com/tjunlp-lab/CMoralEval}.

Learning Based Toolpath Planner on Diverse Graphs for 3D Printing

This paper presents a learning based planner for computing optimized 3D printing toolpaths on prescribed graphs, the challenges of which include the varying graph structures on different models and the large scale of nodes & edges on a graph. We adopt an on-the-fly strategy to tackle these challenges, formulating the planner as a Deep Q-Network (DQN) based optimizer to decide the next `best' node to visit. We construct the state spaces by the Local Search Graph (LSG) centered at different nodes on a graph, which is encoded by a carefully designed algorithm so that LSGs in similar configurations can be identified to re-use the earlier learned DQN priors for accelerating the computation of toolpath planning. Our method can cover different 3D printing applications by defining their corresponding reward functions. Toolpath planning problems in wire-frame printing, continuous fiber printing, and metallic printing are selected to demonstrate its generality. The performance of our planner has been verified by testing the resultant toolpaths in physical experiments. By using our planner, wire-frame models with up to 4.2k struts can be successfully printed, up to 93.3% of sharp turns on continuous fiber toolpaths can be avoided, and the thermal distortion in metallic printing can be reduced by 24.9%.

FlashGS: Efficient 3D Gaussian Splatting for Large-scale and High-resolution Rendering

This work introduces FlashGS, an open-source CUDA Python library, designed to facilitate the efficient differentiable rasterization of 3D Gaussian Splatting through algorithmic and kernel-level optimizations. FlashGS is developed based on the observations from a comprehensive analysis of the rendering process to enhance computational efficiency and bring the technique to wide adoption. The paper includes a suite of optimization strategies, encompassing redundancy elimination, efficient pipelining, refined control and scheduling mechanisms, and memory access optimizations, all of which are meticulously integrated to amplify the performance of the rasterization process. An extensive evaluation of FlashGS' performance has been conducted across a diverse spectrum of synthetic and real-world large-scale scenes, encompassing a variety of image resolutions. The empirical findings demonstrate that FlashGS consistently achieves an average 4x acceleration over mobile consumer GPUs, coupled with reduced memory consumption. These results underscore the superior performance and resource optimization capabilities of FlashGS, positioning it as a formidable tool in the domain of 3D rendering.

Deep Learning Meets OBIA: Tasks, Challenges, Strategies, and Perspectives

Deep learning has gained significant attention in remote sensing, especially in pixel- or patch-level applications. Despite initial attempts to integrate deep learning into object-based image analysis (OBIA), its full potential remains largely unexplored. In this article, as OBIA usage becomes more widespread, we conducted a comprehensive review and expansion of its task subdomains, with or without the integration of deep learning. Furthermore, we have identified and summarized five prevailing strategies to address the challenge of deep learning's limitations in directly processing unstructured object data within OBIA, and this review also recommends some important future research directions. Our goal with these endeavors is to inspire more exploration in this fascinating yet overlooked area and facilitate the integration of deep learning into OBIA processing workflows.

EVIT: Event-based Visual-Inertial Tracking in Semi-Dense Maps Using Windowed Nonlinear Optimization

Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging dynamics and illumination conditions. While event-based simultaneous tracking and mapping remains a challenging problem, a number of recent works have pointed out the sensor's suitability for prior map-based tracking. By making use of cross-modal registration paradigms, the camera's ego-motion can be tracked across a large spectrum of illumination and dynamics conditions on top of accurate maps that have been created a priori by more traditional sensors. The present paper follows up on a recently introduced event-based geometric semi-dense tracking paradigm, and proposes the addition of inertial signals in order to robustify the estimation. More specifically, the added signals provide strong cues for pose initialization as well as regularization during windowed, multi-frame tracking. As a result, the proposed framework achieves increased performance under challenging illumination conditions as well as a reduction of the rate at which intermediate event representations need to be registered in order to maintain stable tracking across highly dynamic sequences. Our evaluation focuses on a diverse set of real world sequences and comprises a comparison of our proposed method against a purely event-based alternative running at different rates.

Genshin: General Shield for Natural Language Processing with Large Language Models

Large language models (LLMs) like ChatGPT, Gemini, or LLaMA have been trending recently, demonstrating considerable advancement and generalizability power in countless domains. However, LLMs create an even bigger black box exacerbating opacity, with interpretability limited to few approaches. The uncertainty and opacity embedded in LLMs' nature restrict their application in high-stakes domains like financial fraud, phishing, etc. Current approaches mainly rely on traditional textual classification with posterior interpretable algorithms, suffering from attackers who may create versatile adversarial samples to break the system's defense, forcing users to make trade-offs between efficiency and robustness. To address this issue, we propose a novel cascading framework called Genshin (General Shield for Natural Language Processing with Large Language Models), utilizing LLMs as defensive one-time plug-ins. Unlike most applications of LLMs that try to transform text into something new or structural, Genshin uses LLMs to recover text to its original state. Genshin aims to combine the generalizability of the LLM, the discrimination of the median model, and the interpretability of the simple model. Our experiments on the task of sentimental analysis and spam detection have shown fatal flaws of the current median models and exhilarating results on LLMs' recovery ability, demonstrating that Genshin is both effective and efficient. In our ablation study, we unearth several intriguing observations. Utilizing the LLM defender, a tool derived from the 4th paradigm, we have reproduced BERT's 15% optimal mask rate results in the 3rd paradigm of NLP. Additionally, when employing the LLM as a potential adversarial tool, attackers are capable of executing effective attacks that are nearly semantically lossless.

Towards Open Domain Text-Driven Synthesis of Multi-Person Motions

This work aims to generate natural and diverse group motions of multiple humans from textual descriptions. While single-person text-to-motion generation is extensively studied, it remains challenging to synthesize motions for more than one or two subjects from in-the-wild prompts, mainly due to the lack of available datasets. In this work, we curate human pose and motion datasets by estimating pose information from large-scale image and video datasets. Our models use a transformer-based diffusion framework that accommodates multiple datasets with any number of subjects or frames. Experiments explore both generation of multi-person static poses and generation of multi-person motion sequences. To our knowledge, our method is the first to generate multi-subject motion sequences with high diversity and fidelity from a large variety of textual prompts.