arXiv subjects

Yiming Li

Publications and source records attributed to Yiming Li.

At least 217 records · Page 12Linked to original sources

arXiv2024

FedSheafHN: Personalized Federated Learning on Graph-structured Data

Personalized subgraph Federated Learning (FL) is a task that customizes Graph Neural Networks (GNNs) to individual client needs, accommodating diverse data distributions. However, applying hypernetworks in FL, while aiming to facilitate model personalization, often encounters challenges due to inadequate representation of client-specific characteristics. To overcome these limitations, we propose a model called FedSheafHN, using enhanced collaboration graph embedding and efficient personalized model parameter generation. Specifically, our model embeds each client's local subgraph into a server-constructed collaboration graph. We utilize sheaf diffusion in the collaboration graph to learn client representations. Our model improves the integration and interpretation of complex client characteristics. Furthermore, our model ensures the generation of personalized models through advanced hypernetworks optimized for parallel operations across clients. Empirical evaluations demonstrate that FedSheafHN outperforms existing methods in most scenarios, in terms of client model performance on various graph-structured datasets. It also has fast model convergence and effective new clients generalization.

cs.LG↗

arXiv2024

Beaconless Auto-Alignment for Single-Wavelength 5 Tbit/s Mode-Division Multiplexing Free-Space Optical Communications

Mode-division multiplexing has shown its ability to significantly increase the capacity of free-space optical communications. An accurate alignment is crucial to enable such links due to possible performance degradation induced by mode crosstalk and narrow beam divergence. Conventionally, a beacon beam is necessary for system alignment due to multiple local maximums in the mode-division multiplexed beam profile. However, the beacon beam introduces excess system complexity, power consumption, and alignment errors. Here we demonstrate a beaconless system with significantly higher alignment accuracy and faster acquisition. This system also excludes excess complexity, power consumption, and alignment errors, facilitating simplified system calibration and supporting a record-high 5.14 Tbit/s line rate in a single-wavelength free-space optical link. We anticipate our paper to be a starting point for more sophisticated alignment scenarios in future multi-Terabit mode-division multiplexing free-space optical communications for long-distance applications with a generalised mode basis.

physics.optics↗

arXiv2024

Memorize What Matters: Emergent Scene Decomposition from Multitraverse

Humans naturally retain memories of permanent elements, while ephemeral moments often slip through the cracks of memory. This selective retention is crucial for robotic perception, localization, and mapping. To endow robots with this capability, we introduce 3D Gaussian Mapping (3DGM), a self-supervised, camera-only offline mapping framework grounded in 3D Gaussian Splatting. 3DGM converts multitraverse RGB videos from the same region into a Gaussian-based environmental map while concurrently performing 2D ephemeral object segmentation. Our key observation is that the environment remains consistent across traversals, while objects frequently change. This allows us to exploit self-supervision from repeated traversals to achieve environment-object decomposition. More specifically, 3DGM formulates multitraverse environmental mapping as a robust differentiable rendering problem, treating pixels of the environment and objects as inliers and outliers, respectively. Using robust feature distillation, feature residuals mining, and robust optimization, 3DGM jointly performs 2D segmentation and 3D mapping without human intervention. We build the Mapverse benchmark, sourced from the Ithaca365 and nuPlan datasets, to evaluate our method in unsupervised 2D segmentation, 3D reconstruction, and neural rendering. Extensive results verify the effectiveness and potential of our method for self-driving and robotics.

cs.CV↗

arXiv2024

Nearest is Not Dearest: Towards Practical Defense against Quantization-conditioned Backdoor Attacks

Model quantization is widely used to compress and accelerate deep neural networks. However, recent studies have revealed the feasibility of weaponizing model quantization via implanting quantization-conditioned backdoors (QCBs). These special backdoors stay dormant on released full-precision models but will come into effect after standard quantization. Due to the peculiarity of QCBs, existing defenses have minor effects on reducing their threats or are even infeasible. In this paper, we conduct the first in-depth analysis of QCBs. We reveal that the activation of existing QCBs primarily stems from the nearest rounding operation and is closely related to the norms of neuron-wise truncation errors (i.e., the difference between the continuous full-precision weights and its quantized version). Motivated by these insights, we propose Error-guided Flipped Rounding with Activation Preservation (EFRAP), an effective and practical defense against QCBs. Specifically, EFRAP learns a non-nearest rounding strategy with neuron-wise error norm and layer-wise activation preservation guidance, flipping the rounding strategies of neurons crucial for backdoor effects but with minimal impact on clean accuracy. Extensive evaluations on benchmark datasets demonstrate that our EFRAP can defeat state-of-the-art QCB attacks under various settings. Code is available at https://github.com/AntigoneRandy/QuantBackdoor_EFRAP.

cs.CR↗

arXiv2024

BadActs: A Universal Backdoor Defense in the Activation Space

Backdoor attacks pose an increasingly severe security threat to Deep Neural Networks (DNNs) during their development stage. In response, backdoor sample purification has emerged as a promising defense mechanism, aiming to eliminate backdoor triggers while preserving the integrity of the clean content in the samples. However, existing approaches have been predominantly focused on the word space, which are ineffective against feature-space triggers and significantly impair performance on clean data. To address this, we introduce a universal backdoor defense that purifies backdoor samples in the activation space by drawing abnormal activations towards optimized minimum clean activation distribution intervals. The advantages of our approach are twofold: (1) By operating in the activation space, our method captures from surface-level information like words to higher-level semantic concepts such as syntax, thus counteracting diverse triggers; (2) the fine-grained continuous nature of the activation space allows for more precise preservation of clean content while removing triggers. Furthermore, we propose a detection module based on statistical information of abnormal activations, to achieve a better trade-off between clean accuracy and defending performance.

cs.CR↗

arXiv2024

Not All Prompts Are Secure: A Switchable Backdoor Attack Against Pre-trained Vision Transformers

Given the power of vision transformers, a new learning paradigm, pre-training and then prompting, makes it more efficient and effective to address downstream visual recognition tasks. In this paper, we identify a novel security threat towards such a paradigm from the perspective of backdoor attacks. Specifically, an extra prompt token, called the switch token in this work, can turn the backdoor mode on, i.e., converting a benign model into a backdoored one. Once under the backdoor mode, a specific trigger can force the model to predict a target class. It poses a severe risk to the users of cloud API, since the malicious behavior can not be activated and detected under the benign mode, thus making the attack very stealthy. To attack a pre-trained model, our proposed attack, named SWARM, learns a trigger and prompt tokens including a switch token. They are optimized with the clean loss which encourages the model always behaves normally even the trigger presents, and the backdoor loss that ensures the backdoor can be activated by the trigger when the switch is on. Besides, we utilize the cross-mode feature distillation to reduce the effect of the switch token on clean samples. The experiments on diverse visual recognition tasks confirm the success of our switchable backdoor attack, i.e., achieving 95%+ attack success rate, and also being hard to be detected and removed. Our code is available at https://github.com/20000yshust/SWARM.

cs.CV↗

arXiv2024

Online Learning of Continuous Signed Distance Fields Using Piecewise Polynomials

Reasoning about distance is indispensable for establishing or avoiding contact in manipulation tasks. To this end, we present an online approach for learning implicit representations of signed distance using piecewise polynomial basis functions. Starting from an arbitrary prior shape, our method incrementally constructs a continuous and smooth distance representation from incoming surface points, with analytical access to gradient information. The underlying model does not store training data for prediction, and its performance can be balanced through interpretable hyperparameters such as polynomial degree and number of segments. We assess the accuracy of the incrementally learned model on a set of household objects and compare it to neural network and Gaussian process counterparts. The utility of intermediate results and analytical gradients is further demonstrated in a physical experiment. For code and video, see https://sites.google.com/view/pp-sdf/.

cs.RO↗

arXiv2024

Relation Extraction Using Large Language Models: A Case Study on Acupuncture Point Locations

In acupuncture therapy, the accurate location of acupoints is essential for its effectiveness. The advanced language understanding capabilities of large language models (LLMs) like Generative Pre-trained Transformers (GPT) present a significant opportunity for extracting relations related to acupoint locations from textual knowledge sources. This study aims to compare the performance of GPT with traditional deep learning models (Long Short-Term Memory (LSTM) and Bidirectional Encoder Representations from Transformers for Biomedical Text Mining (BioBERT)) in extracting acupoint-related location relations and assess the impact of pretraining and fine-tuning on GPT's performance. We utilized the World Health Organization Standard Acupuncture Point Locations in the Western Pacific Region (WHO Standard) as our corpus, which consists of descriptions of 361 acupoints. Five types of relations ('direction_of,' 'distance_of,' 'part_of,' 'near_acupoint,' and 'located_near') (n= 3,174) between acupoints were annotated. Five models were compared: BioBERT, LSTM, pre-trained GPT-3.5, fine-tuned GPT-3.5, as well as pre-trained GPT-4. Performance metrics included micro-average exact match precision, recall, and F1 scores. Our results demonstrate that fine-tuned GPT-3.5 consistently outperformed other models in F1 scores across all relation types. Overall, it achieved the highest micro-average F1 score of 0.92. This study underscores the effectiveness of LLMs like GPT in extracting relations related to acupoint locations, with implications for accurately modeling acupuncture knowledge and promoting standard implementation in acupuncture training and practice. The findings also contribute to advancing informatics applications in traditional and complementary medicine, showcasing the potential of LLMs in natural language processing.

cs.CL↗

arXiv2024

Logarithm laws for BCZ map

We present the logarithm laws for the partial sum of the itinerary function over non-periodic BCZ orbits, utilizing the even and odd Diophantine exponent defined by Athreya-Margulis. We also give a detailed description of the BCZ map and its excursions.

math.DS↗

arXiv2024

From BCZ map to a discretized analog of the RH

We investigate the properties of the BCZ map. Based on our findings, we define the moduli space associated with its excursions. Subsequently, we utilize the framework we build to establish a discretized analog of the Riemann hypothesis (RH) that holds in a stronger sense from a dynamical perspective. The analog is founded upon a reformulation of the RH, specifically in terms of estimates of L1-averages of BCZ cocycle along periodic orbits of the BCZ map. The primary tool we will rely on is the generalized arithmetic sequence, which we will define and discuss.

math.GM↗

arXiv2024

Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation

In this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic chains. Our method employs a combination of Bernstein polynomials to encode the signed distance for each robot link with high accuracy and efficiency while ensuring the mathematical continuity and differentiability of SDFs. We further leverage the kinematics chain of the robot to produce the SDF representation in joint space, allowing robust distance queries in arbitrary joint configurations. The proposed RDF representation is differentiable and smooth in both task and joint spaces, enabling its direct integration to optimization problems. Additionally, the 0-level set of the robot corresponds to the robot surface, which can be seamlessly integrated into whole-body manipulation tasks. We conduct various experiments in both simulations and with 7-axis Franka Emika robots, comparing against baseline methods, and demonstrating its effectiveness in collision avoidance and whole-body manipulation tasks. Project page: https://sites.google.com/view/lrdf/home

cs.RO↗

arXiv2024

ActFormer: Scalable Collaborative Perception via Active Queries

Collaborative perception leverages rich visual observations from multiple robots to extend a single robot's perception ability beyond its field of view. Many prior works receive messages broadcast from all collaborators, leading to a scalability challenge when dealing with a large number of robots and sensors. In this work, we aim to address \textit{scalable camera-based collaborative perception} with a Transformer-based architecture. Our key idea is to enable a single robot to intelligently discern the relevance of the collaborators and their associated cameras according to a learned spatial prior. This proactive understanding of the visual features' relevance does not require the transmission of the features themselves, enhancing both communication and computation efficiency. Specifically, we present ActFormer, a Transformer that learns bird's eye view (BEV) representations by using predefined BEV queries to interact with multi-robot multi-camera inputs. Each BEV query can actively select relevant cameras for information aggregation based on pose information, instead of interacting with all cameras indiscriminately. Experiments on the V2X-Sim dataset demonstrate that ActFormer improves the detection performance from 29.89% to 45.15% in terms of AP@0.7 with about 50% fewer queries, showcasing the effectiveness of ActFormer in multi-agent collaborative 3D object detection.

cs.CV↗

arXiv2024

EgoPAT3Dv2: Predicting 3D Action Target from 2D Egocentric Vision for Human-Robot Interaction

A robot's ability to anticipate the 3D action target location of a hand's movement from egocentric videos can greatly improve safety and efficiency in human-robot interaction (HRI). While previous research predominantly focused on semantic action classification or 2D target region prediction, we argue that predicting the action target's 3D coordinate could pave the way for more versatile downstream robotics tasks, especially given the increasing prevalence of headset devices. This study expands EgoPAT3D, the sole dataset dedicated to egocentric 3D action target prediction. We augment both its size and diversity, enhancing its potential for generalization. Moreover, we substantially enhance the baseline algorithm by introducing a large pre-trained model and human prior knowledge. Remarkably, our novel algorithm can now achieve superior prediction outcomes using solely RGB images, eliminating the previous need for 3D point clouds and IMU input. Furthermore, we deploy our enhanced baseline algorithm on a real-world robotic platform to illustrate its practical utility in straightforward HRI tasks. The demonstrations showcase the real-world applicability of our advancements and may inspire more HRI use cases involving egocentric vision. All code and data are open-sourced and can be found on the project website.

cs.RO↗

arXiv2024

The First Place Solution of WSDM Cup 2024: Leveraging Large Language Models for Conversational Multi-Doc QA

Conversational multi-doc question answering aims to answer specific questions based on the retrieved documents as well as the contextual conversations. In this paper, we introduce our winning approach for the "Conversational Multi-Doc QA" challenge in WSDM Cup 2024, which exploits the superior natural language understanding and generation capability of Large Language Models (LLMs). We first adapt LLMs to the task, then devise a hybrid training strategy to make the most of in-domain unlabeled data. Moreover, an advanced text embedding model is adopted to filter out potentially irrelevant documents and several approaches are designed and compared for the model ensemble. Equipped with all these techniques, our solution finally ranked 1st place in WSDM Cup 2024, surpassing its rivals to a large extent. The source codes have been released at https://github.com/zhangzhao219/WSDM-Cup-2024.

cs.CL↗

arXiv2024

A Survey of Privacy Threats and Defense in Vertical Federated Learning: From Model Life Cycle Perspective

Vertical Federated Learning (VFL) is a federated learning paradigm where multiple participants, who share the same set of samples but hold different features, jointly train machine learning models. Although VFL enables collaborative machine learning without sharing raw data, it is still susceptible to various privacy threats. In this paper, we conduct the first comprehensive survey of the state-of-the-art in privacy attacks and defenses in VFL. We provide taxonomies for both attacks and defenses, based on their characterizations, and discuss open challenges and future research directions. Specifically, our discussion is structured around the model's life cycle, by delving into the privacy threats encountered during different stages of machine learning and their corresponding countermeasures. This survey not only serves as a resource for the research community but also offers clear guidance and actionable insights for practitioners to safeguard data privacy throughout the model's life cycle.

cs.CR↗

arXiv2024

Collaborative Multi-Object Tracking with Conformal Uncertainty Propagation

Object detection and multiple object tracking (MOT) are essential components of self-driving systems. Accurate detection and uncertainty quantification are both critical for onboard modules, such as perception, prediction, and planning, to improve the safety and robustness of autonomous vehicles. Collaborative object detection (COD) has been proposed to improve detection accuracy and reduce uncertainty by leveraging the viewpoints of multiple agents. However, little attention has been paid to how to leverage the uncertainty quantification from COD to enhance MOT performance. In this paper, as the first attempt to address this challenge, we design an uncertainty propagation framework called MOT-CUP. Our framework first quantifies the uncertainty of COD through direct modeling and conformal prediction, and propagates this uncertainty information into the motion prediction and association steps. MOT-CUP is designed to work with different collaborative object detectors and baseline MOT algorithms. We evaluate MOT-CUP on V2X-Sim, a comprehensive collaborative perception dataset, and demonstrate a 2% improvement in accuracy and a 2.67X reduction in uncertainty compared to the baselines, e.g. SORT and ByteTrack. In scenarios characterized by high occlusion levels, our MOT-CUP demonstrates a noteworthy $4.01\%$ improvement in accuracy. MOT-CUP demonstrates the importance of uncertainty quantification in both COD and MOT, and provides the first attempt to improve the accuracy and reduce the uncertainty in MOT based on COD through uncertainty propagation. Our code is public on https://coperception.github.io/MOT-CUP/.

cs.CV↗

arXiv2024

Multi-modality action recognition based on dual feature shift in vehicle cabin monitoring

Driver Action Recognition (DAR) is crucial in vehicle cabin monitoring systems. In real-world applications, it is common for vehicle cabins to be equipped with cameras featuring different modalities. However, multi-modality fusion strategies for the DAR task within car cabins have rarely been studied. In this paper, we propose a novel yet efficient multi-modality driver action recognition method based on dual feature shift, named DFS. DFS first integrates complementary features across modalities by performing modality feature interaction. Meanwhile, DFS achieves the neighbour feature propagation within single modalities, by feature shifting among temporal frames. To learn common patterns and improve model efficiency, DFS shares feature extracting stages among multiple modalities. Extensive experiments have been carried out to verify the effectiveness of the proposed DFS model on the Drive\&Act dataset. The results demonstrate that DFS achieves good performance and improves the efficiency of multi-modality driver action recognition.

cs.CV↗

arXiv2024

Geo2SigMap: High-Fidelity RF Signal Mapping Using Geographic Databases

Radio frequency (RF) signal mapping, which is the process of analyzing and predicting the RF signal strength and distribution across specific areas, is crucial for cellular network planning and deployment. Traditional approaches to RF signal mapping rely on statistical models constructed based on measurement data, which offer low complexity but often lack accuracy, or ray tracing tools, which provide enhanced precision for the target area but suffer from increased computational complexity. Recently, machine learning (ML) has emerged as a data-driven method for modeling RF signal propagation, which leverages models trained on synthetic datasets to perform RF signal mapping in "unseen" areas. In this paper, we present Geo2SigMap, an ML-based framework for efficient and high-fidelity RF signal mapping using geographic databases. First, we develop an automated framework that seamlessly integrates three open-source tools: OpenStreetMap (geographic databases), Blender (computer graphics), and Sionna (ray tracing), enabling the efficient generation of large-scale 3D building maps and ray tracing models. Second, we propose a cascaded U-Net model, which is pre-trained on synthetic datasets and employed to generate detailed RF signal maps, leveraging environmental information and sparse measurement data. Finally, we evaluate the performance of Geo2SigMap via a real-world measurement campaign, where three types of user equipment (UE) collect over 45,000 data points related to cellular information from six LTE cells operating in the citizens broadband radio service (CBRS) band. Our results show that Geo2SigMap achieves an average root-mean-square-error (RMSE) of 6.04 dB for predicting the reference signal received power (RSRP) at the UE, representing an average RMSE improvement of 3.59 dB compared to existing methods.

eess.SP↗