arXiv subjects

Xudong Han

Publications and source records attributed to Xudong Han.

At least 55 records · Page 3Linked to original sources

arXiv2024

Against The Achilles' Heel: A Survey on Red Teaming for Generative Models

Generative models are rapidly gaining popularity and being integrated into everyday applications, raising concerns over their safe use as various vulnerabilities are exposed. In light of this, the field of red teaming is undergoing fast-paced growth, highlighting the need for a comprehensive survey covering the entire pipeline and addressing emerging topics. Our extensive survey, which examines over 120 papers, introduces a taxonomy of fine-grained attack strategies grounded in the inherent capabilities of language models. Additionally, we have developed the "searcher" framework to unify various automatic red teaming approaches. Moreover, our survey covers novel areas including multimodal attacks and defenses, risks around LLM-based agents, overkill of harmless queries, and the balance between harmlessness and helpfulness.

cs.CL↗

arXiv2024

Loki: An Open-Source Tool for Fact Verification

We introduce Loki, an open-source tool designed to address the growing problem of misinformation. Loki adopts a human-centered approach, striking a balance between the quality of fact-checking and the cost of human involvement. It decomposes the fact-checking task into a five-step pipeline: breaking down long texts into individual claims, assessing their check-worthiness, generating queries, retrieving evidence, and verifying the claims. Instead of fully automating the claim verification process, Loki provides essential information at each step to assist human judgment, especially for general users such as journalists and content moderators. Moreover, it has been optimized for latency, robustness, and cost efficiency at a commercially usable level. Loki is released under an MIT license and is available on GitHub. We also provide a video presenting the system and its capabilities.

cs.CL↗

arXiv2024

A Chinese Dataset for Evaluating the Safeguards in Large Language Models

Many studies have demonstrated that large language models (LLMs) can produce harmful responses, exposing users to unexpected risks when LLMs are deployed. Previous studies have proposed comprehensive taxonomies of the risks posed by LLMs, as well as corresponding prompts that can be used to examine the safety mechanisms of LLMs. However, the focus has been almost exclusively on English, and little has been explored for other languages. Here we aim to bridge this gap. We first introduce a dataset for the safety evaluation of Chinese LLMs, and then extend it to two other scenarios that can be used to better identify false negative and false positive examples in terms of risky prompt rejections. We further present a set of fine-grained safety assessment criteria for each risk type, facilitating both manual annotation and automatic evaluation in terms of LLM response harmfulness. Our experiments on five LLMs show that region-specific risks are the prevalent type of risk, presenting the major issue with all Chinese LLMs we experimented with. Our data is available at https://github.com/Libr-AI/do-not-answer. Warning: this paper contains example data that may be offensive, harmful, or biased.

cs.CL↗

arXiv2024

On Flange-based 3D Hand-Eye Calibration for Soft Robotic Tactile Welding

This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange are exploited by directly capturing its point cloud data. In particular, an iterative method is proposed to facilitate point cloud processing toward a refined calibration outcome. Several extensive experiments are conducted over a range of collaborative robots, including Universal Robots UR5 & UR10 e-series, Franka Emika, and AUBO i5 using an industrial-grade 3D scanner Photoneo Phoxi S & M and a commercial-grade 3D scanner Microsoft Azure Kinect DK. Experimental results show that translational and rotational errors converge efficiently to less than 0.28 mm and 0.25 degrees, respectively, achieving a hand-eye calibration accuracy as high as the camera's resolution, probing the hardware limit. A welding seam tracking system is presented, combining the flange-based calibration method with soft tactile sensing. The experiment results show that the system enables the robot to adjust its motion in real-time, ensuring consistent weld quality and paving the way for more efficient and adaptable manufacturing processes.

cs.RO↗

arXiv2024

Proprioceptive Learning with Soft Polyhedral Networks

Proprioception is the "sixth sense" that detects limb postures with motor neurons. It requires a natural integration between the musculoskeletal systems and sensory receptors, which is challenging among modern robots that aim for lightweight, adaptive, and sensitive designs at a low cost. Here, we present the Soft Polyhedral Network with an embedded vision for physical interactions, capable of adaptive kinesthesia and viscoelastic proprioception by learning kinetic features. This design enables passive adaptations to omni-directional interactions, visually captured by a miniature high-speed motion tracking system embedded inside for proprioceptive learning. The results show that the soft network can infer real-time 6D forces and torques with accuracies of 0.25/0.24/0.35 N and 0.025/0.034/0.006 Nm in dynamic interactions. We also incorporate viscoelasticity in proprioception during static adaptation by adding a creep and relaxation modifier to refine the predicted results. The proposed soft network combines simplicity in design, omni-adaptation, and proprioceptive sensing with high accuracy, making it a versatile solution for robotics at a low cost with more than 1 million use cycles for tasks such as sensitive and competitive grasping, and touch-based geometry reconstruction. This study offers new insights into vision-based proprioception for soft robots in adaptive grasping, soft manipulation, and human-robot interaction.

cs.RO↗

arXiv2024

Proprioceptive State Estimation for Amphibious Tactile Sensing

This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's unique metamaterial structure, which facilitates omni-directional passive adaptation during grasping, protecting delicate objects across diverse scenarios. A compact in-finger camera captures high-framerate images of the finger's deformation during contact, extracting crucial tactile data in real-time. We present a volumetric discretized model of the soft finger and use the geometry constraints captured by the camera to find the optimal estimation of the deformed shape. The approach is benchmarked using a motion capture system with sparse markers and a haptic device with dense measurements. Both results show state-of-the-art accuracies, with a median error of 1.96 mm for overall body deformation, corresponding to 2.1% of the finger's length. More importantly, the state estimation is robust in both on-land and underwater environments as we demonstrate its usage for underwater object shape sensing. This combination of passive adaptation and real-time tactile sensing paves the way for amphibious robotic grasping applications.

cs.RO↗

arXiv2024

ETTrack: Enhanced Temporal Motion Predictor for Multi-Object Tracking

Many Multi-Object Tracking (MOT) approaches exploit motion information to associate all the detected objects across frames. However, many methods that rely on filtering-based algorithms, such as the Kalman Filter, often work well in linear motion scenarios but struggle to accurately predict the locations of objects undergoing complex and non-linear movements. To tackle these scenarios, we propose a motion-based MOT approach with an enhanced temporal motion predictor, ETTrack. Specifically, the motion predictor integrates a transformer model and a Temporal Convolutional Network (TCN) to capture short-term and long-term motion patterns, and it predicts the future motion of individual objects based on the historical motion information. Additionally, we propose a novel Momentum Correction Loss function that provides additional information regarding the motion direction of objects during training. This allows the motion predictor rapidly adapt to motion variations and more accurately predict future motion. Our experimental results demonstrate that ETTrack achieves a competitive performance compared with state-of-the-art trackers on DanceTrack and SportsMOT, scoring 56.4% and 74.4% in HOTA metrics, respectively.

cs.CV↗

arXiv2024

Learning From Failure: Integrating Negative Examples when Fine-tuning Large Language Models as Agents

Large language models (LLMs) have achieved success in acting as agents, which interact with environments through tools such as search engines. However, LLMs are optimized for language generation instead of tool use during training or alignment, limiting their effectiveness as agents. To resolve this problem, previous work has first collected interaction trajectories between LLMs and environments, using only trajectories that successfully finished the task to fine-tune smaller models, making fine-tuning data scarce and acquiring it both difficult and costly. Discarding failed trajectories also leads to significant wastage of data and resources and limits the possible optimization paths during fine-tuning. In this paper, we argue that unsuccessful trajectories offer valuable insights, and LLMs can learn from these trajectories through appropriate quality control and fine-tuning strategies. By simply adding a prefix or suffix that tells the model whether to generate a successful trajectory during training, we improve model performance by a large margin on mathematical reasoning, multi-hop question answering, and strategic question answering tasks. We further analyze the inference results and find that our method provides a better trade-off between valuable information and errors in unsuccessful trajectories. To our knowledge, we are the first to demonstrate the value of negative trajectories and their application in agent-tunning scenarios. Our findings offer guidance for developing better agent-tuning methods and low-resource data usage techniques.

cs.CL↗

arXiv2024

Demystifying Instruction Mixing for Fine-tuning Large Language Models

Instruction tuning significantly enhances the performance of large language models (LLMs) across various tasks. However, the procedure to optimizing the mixing of instruction datasets for LLM fine-tuning is still poorly understood. This study categorizes instructions into three primary types: NLP downstream tasks, coding, and general chat. We explore the effects of instruction tuning on different combinations of datasets on LLM performance, and find that certain instruction types are more advantageous for specific applications but can negatively impact other areas. This work provides insights into instruction mixtures, laying the foundations for future research.

cs.CL↗

arXiv2023

Jais and Jais-chat: Arabic-Centric Foundation and Instruction-Tuned Open Generative Large Language Models

We introduce Jais and Jais-chat, new state-of-the-art Arabic-centric foundation and instruction-tuned open generative large language models (LLMs). The models are based on the GPT-3 decoder-only architecture and are pretrained on a mixture of Arabic and English texts, including source code in various programming languages. With 13 billion parameters, they demonstrate better knowledge and reasoning capabilities in Arabic than any existing open Arabic and multilingual models by a sizable margin, based on extensive evaluation. Moreover, the models are competitive in English compared to English-centric open models of similar size, despite being trained on much less English data. We provide a detailed description of the training, the tuning, the safety alignment, and the evaluation of the models. We release two open versions of the model -- the foundation Jais model, and an instruction-tuned Jais-chat variant -- with the aim of promoting research on Arabic LLMs. Available at https://huggingface.co/inception-mbzuai/jais-13b-chat

cs.CL↗

arXiv2023

Do-Not-Answer: A Dataset for Evaluating Safeguards in LLMs

With the rapid evolution of large language models (LLMs), new and hard-to-predict harmful capabilities are emerging. This requires developers to be able to identify risks through the evaluation of "dangerous capabilities" in order to responsibly deploy LLMs. In this work, we collect the first open-source dataset to evaluate safeguards in LLMs, and deploy safer open-source LLMs at a low cost. Our dataset is curated and filtered to consist only of instructions that responsible language models should not follow. We annotate and assess the responses of six popular LLMs to these instructions. Based on our annotation, we proceed to train several BERT-like classifiers, and find that these small classifiers can achieve results that are comparable with GPT-4 on automatic safety evaluation. Warning: this paper contains example data that may be offensive, harmful, or biased.

cs.CL↗

arXiv2023

Autoencoding a Soft Touch to Learn Grasping from On-land to Underwater

Robots play a critical role as the physical agent of human operators in exploring the ocean. However, it remains challenging to grasp objects reliably while fully submerging under a highly pressurized aquatic environment with little visible light, mainly due to the fluidic interference on the tactile mechanics between the finger and object surfaces. This study investigates the transferability of grasping knowledge from on-land to underwater via a vision-based soft robotic finger that learns 6D forces and torques (FT) using a Supervised Variational Autoencoder (SVAE). A high-framerate camera captures the whole-body deformations while a soft robotic finger interacts with physical objects on-land and underwater. Results show that the trained SVAE model learned a series of latent representations of the soft mechanics transferrable from land to water, presenting a superior adaptation to the changing environments against commercial FT sensors. Soft, delicate, and reactive grasping enabled by tactile intelligence enhances the gripper's underwater interaction with improved reliability and robustness at a much-reduced cost, paving the path for learning-based intelligent grasping to support fundamental scientific discoveries in environmental and ocean research.

cs.RO↗

arXiv2023

Fair Enough: Standardizing Evaluation and Model Selection for Fairness Research in NLP

Modern NLP systems exhibit a range of biases, which a growing literature on model debiasing attempts to correct. However current progress is hampered by a plurality of definitions of bias, means of quantification, and oftentimes vague relation between debiasing algorithms and theoretical measures of bias. This paper seeks to clarify the current situation and plot a course for meaningful progress in fair learning, with two key contributions: (1) making clear inter-relations among the current gamut of methods, and their relation to fairness theory; and (2) addressing the practical problem of model selection, which involves a trade-off between fairness and accuracy and has led to systemic issues in fairness research. Putting them together, we make several recommendations to help shape future work.

cs.CL↗

arXiv2022

Systematic Evaluation of Predictive Fairness

Mitigating bias in training on biased datasets is an important open problem. Several techniques have been proposed, however the typical evaluation regime is very limited, considering very narrow data conditions. For instance, the effect of target class imbalance and stereotyping is under-studied. To address this gap, we examine the performance of various debiasing methods across multiple tasks, spanning binary classification (Twitter sentiment), multi-class classification (profession prediction), and regression (valence prediction). Through extensive experimentation, we find that data conditions have a strong influence on relative model performance, and that general conclusions cannot be drawn about method efficacy when evaluating only on standard datasets, as is current practice in fairness research.

cs.LG↗

arXiv2022

Towards Equal Opportunity Fairness through Adversarial Learning

Adversarial training is a common approach for bias mitigation in natural language processing. Although most work on debiasing is motivated by equal opportunity, it is not explicitly captured in standard adversarial training. In this paper, we propose an augmented discriminator for adversarial training, which takes the target class as input to create richer features and more explicitly model equal opportunity. Experimental results over two datasets show that our method substantially improves over standard adversarial debiasing methods, in terms of the performance--fairness trade-off.

cs.CL↗

arXiv2022

Balancing out Bias: Achieving Fairness Through Balanced Training

Group bias in natural language processing tasks manifests as disparities in system error rates across texts authorized by different demographic groups, typically disadvantaging minority groups. Dataset balancing has been shown to be effective at mitigating bias, however existing approaches do not directly account for correlations between author demographics and linguistic variables, limiting their effectiveness. To achieve Equal Opportunity fairness, such as equal job opportunity without regard to demographics, this paper introduces a simple, but highly effective, objective for countering bias using balanced training. We extend the method in the form of a gated model, which incorporates protected attributes as input, and show that it is effective at reducing bias in predictions through demographic input perturbation, outperforming all other bias mitigation techniques when combined with balanced training.

cs.CL↗

arXiv2022

Optimising Equal Opportunity Fairness in Model Training

Real-world datasets often encode stereotypes and societal biases. Such biases can be implicitly captured by trained models, leading to biased predictions and exacerbating existing societal preconceptions. Existing debiasing methods, such as adversarial training and removing protected information from representations, have been shown to reduce bias. However, a disconnect between fairness criteria and training objectives makes it difficult to reason theoretically about the effectiveness of different techniques. In this work, we propose two novel training objectives which directly optimise for the widely-used criterion of {\it equal opportunity}, and show that they are effective in reducing bias while maintaining high performance over two classification tasks.

cs.LG↗

arXiv2022

fairlib: A Unified Framework for Assessing and Improving Classification Fairness

This paper presents fairlib, an open-source framework for assessing and improving classification fairness. It provides a systematic framework for quickly reproducing existing baseline models, developing new methods, evaluating models with different metrics, and visualizing their results. Its modularity and extensibility enable the framework to be used for diverse types of inputs, including natural language, images, and audio. In detail, we implement 14 debiasing methods, including pre-processing, at-training-time, and post-processing approaches. The built-in metrics cover the most commonly used fairness criterion and can be further generalized and customized for fairness evaluation.

cs.LG↗