X as Supervision: Contending with Depth Ambiguity in Unsupervised Monocular 3D Pose Estimation

Recent unsupervised methods for monocular 3D pose estimation have endeavored to reduce dependence on limited annotated 3D data, but most are solely formulated in 2D space, overlooking the inherent depth ambiguity issue. Due to the information loss in 3D-to-2D projection, multiple potential depths may exist, yet only some of them are plausible in human structure. To tackle depth ambiguity, we propose a novel unsupervised framework featuring a multi-hypothesis detector and multiple tailored pretext tasks. The detector extracts multiple hypotheses from a heatmap within a local window, effectively managing the multi-solution problem. Furthermore, the pretext tasks harness 3D human priors from the SMPL model to regularize the solution space of pose estimation, aligning it with the empirical distribution of 3D human structures. This regularization is partially achieved through a GCN-based discriminator within the discriminative learning, and is further complemented with synthetic images through rendering, ensuring plausible estimations. Consequently, our approach demonstrates state-of-the-art unsupervised 3D pose estimation performance on various human datasets. Further evaluations on data scale-up and one animal dataset highlight its generalization capabilities. Code will be available at https://github.com/Charrrrrlie/X-as-Supervision.

Code Vulnerability Repair with Large Language Model using Context-Aware Prompt Tuning

Large Language Models (LLMs) have shown significant challenges in detecting and repairing vulnerable code, particularly when dealing with vulnerabilities involving multiple aspects, such as variables, code flows, and code structures. In this study, we utilize GitHub Copilot as the LLM and focus on buffer overflow vulnerabilities. Our experiments reveal a notable gap in Copilot's abilities when dealing with buffer overflow vulnerabilities, with a 76% vulnerability detection rate but only a 15% vulnerability repair rate. To address this issue, we propose context-aware prompt tuning techniques designed to enhance LLM performance in repairing buffer overflow. By injecting a sequence of domain knowledge about the vulnerability, including various security and code contexts, we demonstrate that Copilot's successful repair rate increases to 63%, representing more than four times the improvement compared to repairs without domain knowledge.

RoleInteract: Evaluating the Social Interaction of Role-Playing Agents

Large language models (LLMs) have advanced the development of various AI conversational agents, including role-playing conversational agents that mimic diverse characters and human behaviors. While prior research has predominantly focused on enhancing the conversational capability, role-specific knowledge, and stylistic attributes of these agents, there has been a noticeable gap in assessing their social intelligence. In this paper, we introduce RoleInteract, the first benchmark designed to systematically evaluate the sociality of role-playing conversational agents at both individual and group levels of social interactions. The benchmark is constructed from a variety of sources and covers a wide range of 500 characters and over 6,000 question prompts and 30,800 multi-turn role-playing utterances. We conduct comprehensive evaluations on this benchmark using mainstream open-source and closed-source LLMs. We find that agents excelling in individual level does not imply their proficiency in group level. Moreover, the behavior of individuals may drift as a result of the influence exerted by other agents within the group. Experimental results on RoleInteract confirm its significance as a testbed for assessing the social interaction of role-playing conversational agents. The benchmark is publicly accessible at https://github.com/X-PLUG/RoleInteract.

From Skepticism to Acceptance: Simulating the Attitude Dynamics Toward Fake News

In the digital era, the rapid propagation of fake news and rumors via social networks brings notable societal challenges and impacts public opinion regulation. Traditional fake news modeling typically forecasts the general popularity trends of different groups or numerically represents opinions shift. However, these methods often oversimplify real-world complexities and overlook the rich semantic information of news text. The advent of large language models (LLMs) provides the possibility of modeling subtle dynamics of opinion. Consequently, in this work, we introduce a Fake news Propagation Simulation framework (FPS) based on LLM, which studies the trends and control of fake news propagation in detail. Specifically, each agent in the simulation represents an individual with a distinct personality. They are equipped with both short-term and long-term memory, as well as a reflective mechanism to mimic human-like thinking. Every day, they engage in random opinion exchanges, reflect on their thinking, and update their opinions. Our simulation results uncover patterns in fake news propagation related to topic relevance, and individual traits, aligning with real-world observations. Additionally, we evaluate various intervention strategies and demonstrate that early and appropriately frequent interventions strike a balance between governance cost and effectiveness, offering valuable insights for practical applications. Our study underscores the significant utility and potential of LLMs in combating fake news.

Applying Self-supervised Learning to Network Intrusion Detection for Network Flows with Graph Neural Network

Graph Neural Networks (GNNs) have garnered intensive attention for Network Intrusion Detection System (NIDS) due to their suitability for representing the network traffic flows. However, most present GNN-based methods for NIDS are supervised or semi-supervised. Network flows need to be manually annotated as supervisory labels, a process that is time-consuming or even impossible, making NIDS difficult to adapt to potentially complex attacks, especially in large-scale real-world scenarios. The existing GNN-based self-supervised methods focus on the binary classification of network flow as benign or not, and thus fail to reveal the types of attack in practice. This paper studies the application of GNNs to identify the specific types of network flows in an unsupervised manner. We first design an encoder to obtain graph embedding, that introduces the graph attention mechanism and considers the edge information as the only essential factor. Then, a self-supervised method based on graph contrastive learning is proposed. The method samples center nodes, and for each center node, generates subgraph by it and its direct neighbor nodes, and corresponding contrastive subgraph from the interpolated graph, and finally constructs positive and negative samples from subgraphs. Furthermore, a structured contrastive loss function based on edge features and graph local topology is introduced. To the best of our knowledge, it is the first GNN-based self-supervised method for the multiclass classification of network flows in NIDS. Detailed experiments conducted on four real-world databases (NF-Bot-IoT, NF-Bot-IoT-v2, NF-CSE-CIC-IDS2018, and NF-CSE-CIC-IDS2018-v2) systematically compare our model with the state-of-the-art supervised and self-supervised models, illustrating the considerable potential of our method. Our code is accessible through https://github.com/renj-xu/NEGSC.

OASim: an Open and Adaptive Simulator based on Neural Rendering for Autonomous Driving

With deep learning and computer vision technology development, autonomous driving provides new solutions to improve traffic safety and efficiency. The importance of building high-quality datasets is self-evident, especially with the rise of end-to-end autonomous driving algorithms in recent years. Data plays a core role in the algorithm closed-loop system. However, collecting real-world data is expensive, time-consuming, and unsafe. With the development of implicit rendering technology and in-depth research on using generative models to produce data at scale, we propose OASim, an open and adaptive simulator and autonomous driving data generator based on implicit neural rendering. It has the following characteristics: (1) High-quality scene reconstruction through neural implicit surface reconstruction technology. (2) Trajectory editing of the ego vehicle and participating vehicles. (3) Rich vehicle model library that can be freely selected and inserted into the scene. (4) Rich sensors model library where you can select specified sensors to generate data. (5) A highly customizable data generation system can generate data according to user needs. We demonstrate the high quality and fidelity of the generated data through perception performance evaluation on the Carla simulator and real-world data acquisition. Code is available at https://github.com/PJLab-ADG/OASim.

Realistic Rainy Weather Simulation for LiDARs in CARLA Simulator

Employing data augmentation methods to enhance perception performance in adverse weather has attracted considerable attention recently. Most of the LiDAR augmentation methods post-process the existing dataset by physics-based models or machine-learning methods. However, due to the limited environmental annotations and the fixed vehicle trajectories in the existing dataset, it is challenging to edit the scene and expand the diversity of traffic flow and scenario. To this end, we propose a simulator-based physical modeling approach to augment LiDAR data in rainy weather in order to improve the perception performance of LiDAR in this scenario. We complete the modeling task of the rainy weather in the CARLA simulator and establish a pipeline for LiDAR data collection. In particular, we pay special attention to the spray and splash rolled up by the wheels of surrounding vehicles in rain and complete the simulation of this special scenario through the Spray Emitter method we developed. In addition, we examine the influence of different weather conditions on the intensity of the LiDAR echo, develop a prediction network for the intensity of the LiDAR echo, and complete the simulation of 4-feat LiDAR point cloud data. In the experiment, we observe that the model augmented by the synthetic data improves the object detection task's performance in the rainy sequence of the Waymo Open Dataset. Both the code and the dataset will be made publicly available at https://github.com/PJLab-ADG/PCSim#rainypcsim.

Towards Knowledge-driven Autonomous Driving

This paper explores the emerging knowledge-driven autonomous driving technologies. Our investigation highlights the limitations of current autonomous driving systems, in particular their sensitivity to data bias, difficulty in handling long-tail scenarios, and lack of interpretability. Conversely, knowledge-driven methods with the abilities of cognition, generalization and life-long learning emerge as a promising way to overcome these challenges. This paper delves into the essence of knowledge-driven autonomous driving and examines its core components: dataset \& benchmark, environment, and driver agent. By leveraging large language models, world models, neural rendering, and other advanced artificial intelligence techniques, these components collectively contribute to a more holistic, adaptive, and intelligent autonomous driving system. The paper systematically organizes and reviews previous research efforts in this area, and provides insights and guidance for future research and practical applications of autonomous driving. We will continually share the latest updates on cutting-edge developments in knowledge-driven autonomous driving along with the relevant valuable open-source resources at: \url{https://github.com/PJLab-ADG/awesome-knowledge-driven-AD}.

SceneDM: Scene-level Multi-agent Trajectory Generation with Consistent Diffusion Models

Realistic scene-level multi-agent motion simulations are crucial for developing and evaluating self-driving algorithms. However, most existing works focus on generating trajectories for a certain single agent type, and typically ignore the consistency of generated trajectories. In this paper, we propose a novel framework based on diffusion models, called SceneDM, to generate joint and consistent future motions of all the agents, including vehicles, bicycles, pedestrians, etc., in a scene. To enhance the consistency of the generated trajectories, we resort to a new Transformer-based network to effectively handle agent-agent interactions in the inverse process of motion diffusion. In consideration of the smoothness of agent trajectories, we further design a simple yet effective consistent diffusion approach, to improve the model in exploiting short-term temporal dependencies. Furthermore, a scene-level scoring function is attached to evaluate the safety and road-adherence of the generated agent's motions and help filter out unrealistic simulations. Finally, SceneDM achieves state-of-the-art results on the Waymo Sim Agents Benchmark. Project webpage is available at https://alperen-hub.github.io/SceneDM.

CycleAlign: Iterative Distillation from Black-box LLM to White-box Models for Better Human Alignment

Language models trained on large-scale corpus often generate content that is harmful, toxic, or contrary to human preferences, making their alignment with human values a critical concern. Reinforcement learning from human feedback (RLHF) with algorithms like PPO is a prevalent approach for alignment but is often complex, unstable, and resource-intensive. Recently, ranking-based alignment methods have emerged, offering stability and effectiveness by replacing the RL framework with supervised fine-tuning, but they are costly due to the need for annotated data. Considering that existing large language models (LLMs) like ChatGPT are already relatively well-aligned and cost-friendly, researchers have begun to align the language model with human preference from AI feedback. The common practices, which unidirectionally distill the instruction-following responses from LLMs, are constrained by their bottleneck. Thus we introduce CycleAlign to distill alignment capabilities from parameter-invisible LLMs (black-box) to a parameter-visible model (white-box) in an iterative manner. With in-context learning (ICL) as the core of the cycle, the black-box models are able to rank the model-generated responses guided by human-craft instruction and demonstrations about their preferences. During iterative interaction, the white-box models also have a judgment about responses generated by them. Consequently, the agreement ranking could be viewed as a pseudo label to dynamically update the in-context demonstrations and improve the preference ranking ability of black-box models. Through multiple interactions, the CycleAlign framework could align the white-box model with the black-box model effectively in a low-resource way. Empirical results illustrate that the model fine-tuned by CycleAlign remarkably exceeds existing methods, and achieves the state-of-the-art performance in alignment with human value.