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A common prerequisite for evaluating a visual(-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference ground-truth derived from a system of superior precision, such as a motion capture system. The trajectory-based alignment, typically modeled as a classic hand-eye calibration, significantly influences the accuracy of evaluation metrics. However, traditional calibration methods are susceptible to the quality of the input poses. Few studies have taken this into account when evaluating VO/VIO trajectories that usually suffer from noise and drift. To fill this gap, we propose a novel spatiotemporal hand-eye calibration algorithm that fully leverages multiple constraints from screw theory for enhanced accuracy and robustness. Experimental results show that our algorithm has better performance and is less noise-prone than state-of-the-art methods., Comment: 8 pages, 9 figures, 2 tables

We study a public event scheduling problem, where multiple public events are scheduled to coordinate the availability of multiple agents. The availability of each agent is determined by solving a separate flexible interval job scheduling problem, where the jobs are required to be preemptively processed. The agents want to attend as many events as possible, and their agreements are considered to be the total length of time during which they can attend these events. The goal is to find a schedule for events as well as the job schedule for each agent such that the total agreement is maximized. We first show that the problem is NP-hard, and then prove that a simple greedy algorithm achieves $\frac{1}{2}$-approximation when the whole timeline is polynomially bounded. Our method also implies a $(1-\frac{1}{e})$-approximate algorithm for this case. Subsequently, for the general timeline case, we present an algorithmic framework that extends a $\frac{1}{\alpha}$-approximate algorithm for the one-event instance to the general case that achieves $\frac{1}{\alpha+1}$-approximation. Finally, we give a polynomial time algorithm that solves the one-event instance, and this implies a $\frac{1}{2}$-approximate algorithm for the general case., Comment: To appear in IJCAI 2024

As the concept of Industries 5.0 develops, industrial metaverses are expected to operate in parallel with the actual industrial processes to offer ``Human-Centric" Safe, Secure, Sustainable, Sensitive, Service, and Smartness ``6S" manufacturing solutions. Industrial metaverses not only visualize the process of productivity in a dynamic and evolutional way, but also provide an immersive laboratory experimental environment for optimizing and remodeling the process. Besides, the customized user needs that are hidden in social media data can be discovered by social computing technologies, which introduces an input channel for building the whole social manufacturing process including industrial metaverses. This makes the fusion of multi-source data cross Cyber-Physical-Social Systems (CPSS) the foundational and key challenge. This work firstly proposes a multi-source-data-fusion-driven operational architecture for industrial metaverses on the basis of conducting a comprehensive literature review on the state-of-the-art multi-source data fusion methods. The advantages and disadvantages of each type of method are analyzed by considering the fusion mechanisms and application scenarios. Especially, we combine the strengths of deep learning and knowledge graphs in scalability and parallel computation to enable our proposed framework the ability of prescriptive optimization and evolution. This integration can address the shortcomings of deep learning in terms of explainability and fact fabrication, as well as overcoming the incompleteness and the challenges of construction and maintenance inherent in knowledge graphs. The effectiveness of the proposed architecture is validated through a parallel weaving case study. In the end, we discuss the challenges and future directions of multi-source data fusion cross CPSS for industrial metaverses and social manufacturing in Industries 5.0.

Large Language Models (LLMs) aim to serve as versatile assistants aligned with human values, as defined by the principles of being helpful, honest, and harmless (hhh). However, in terms of Multimodal Large Language Models (MLLMs), despite their commendable performance in perception and reasoning tasks, their alignment with human values remains largely unexplored, given the complexity of defining hhh dimensions in the visual world and the difficulty in collecting relevant data that accurately mirrors real-world situations. To address this gap, we introduce Ch3Ef, a Compreh3ensive Evaluation dataset and strategy for assessing alignment with human expectations. Ch3Ef dataset contains 1002 human-annotated data samples, covering 12 domains and 46 tasks based on the hhh principle. We also present a unified evaluation strategy supporting assessment across various scenarios and different perspectives. Based on the evaluation results, we summarize over 10 key findings that deepen the understanding of MLLM capabilities, limitations, and the dynamic relationships between evaluation levels, guiding future advancements in the field., Comment: arXiv admin note: text overlap with arXiv:2311.02692

Jailbreak attacks are crucial for identifying and mitigating the security vulnerabilities of Large Language Models (LLMs). They are designed to bypass safeguards and elicit prohibited outputs. However, due to significant differences among various jailbreak methods, there is no standard implementation framework available for the community, which limits comprehensive security evaluations. This paper introduces EasyJailbreak, a unified framework simplifying the construction and evaluation of jailbreak attacks against LLMs. It builds jailbreak attacks using four components: Selector, Mutator, Constraint, and Evaluator. This modular framework enables researchers to easily construct attacks from combinations of novel and existing components. So far, EasyJailbreak supports 11 distinct jailbreak methods and facilitates the security validation of a broad spectrum of LLMs. Our validation across 10 distinct LLMs reveals a significant vulnerability, with an average breach probability of 60% under various jailbreaking attacks. Notably, even advanced models like GPT-3.5-Turbo and GPT-4 exhibit average Attack Success Rates (ASR) of 57% and 33%, respectively. We have released a wealth of resources for researchers, including a web platform, PyPI published package, screencast video, and experimental outputs.

In the rapidly evolving landscape of Large Language Models (LLMs), ensuring robust safety measures is paramount. To meet this crucial need, we propose \emph{SALAD-Bench}, a safety benchmark specifically designed for evaluating LLMs, attack, and defense methods. Distinguished by its breadth, SALAD-Bench transcends conventional benchmarks through its large scale, rich diversity, intricate taxonomy spanning three levels, and versatile functionalities.SALAD-Bench is crafted with a meticulous array of questions, from standard queries to complex ones enriched with attack, defense modifications and multiple-choice. To effectively manage the inherent complexity, we introduce an innovative evaluators: the LLM-based MD-Judge for QA pairs with a particular focus on attack-enhanced queries, ensuring a seamless, and reliable evaluation. Above components extend SALAD-Bench from standard LLM safety evaluation to both LLM attack and defense methods evaluation, ensuring the joint-purpose utility. Our extensive experiments shed light on the resilience of LLMs against emerging threats and the efficacy of contemporary defense tactics. Data and evaluator are released under https://github.com/OpenSafetyLab/SALAD-BENCH., Comment: Accepted at ACL 2024 Findings

Multi-modal Large Language Models (MLLMs) have shown impressive abilities in generating reasonable responses with respect to multi-modal contents. However, there is still a wide gap between the performance of recent MLLM-based applications and the expectation of the broad public, even though the most powerful OpenAI's GPT-4 and Google's Gemini have been deployed. This paper strives to enhance understanding of the gap through the lens of a qualitative study on the generalizability, trustworthiness, and causal reasoning capabilities of recent proprietary and open-source MLLMs across four modalities: ie, text, code, image, and video, ultimately aiming to improve the transparency of MLLMs. We believe these properties are several representative factors that define the reliability of MLLMs, in supporting various downstream applications. To be specific, we evaluate the closed-source GPT-4 and Gemini and 6 open-source LLMs and MLLMs. Overall we evaluate 230 manually designed cases, where the qualitative results are then summarized into 12 scores (ie, 4 modalities times 3 properties). In total, we uncover 14 empirical findings that are useful to understand the capabilities and limitations of both proprietary and open-source MLLMs, towards more reliable downstream multi-modal applications.

Multi-agent systems, when enhanced with Large Language Models (LLMs), exhibit profound capabilities in collective intelligence. However, the potential misuse of this intelligence for malicious purposes presents significant risks. To date, comprehensive research on the safety issues associated with multi-agent systems remains limited. In this paper, we explore these concerns through the innovative lens of agent psychology, revealing that the dark psychological states of agents constitute a significant threat to safety. To tackle these concerns, we propose a comprehensive framework (PsySafe) grounded in agent psychology, focusing on three key areas: firstly, identifying how dark personality traits in agents can lead to risky behaviors; secondly, evaluating the safety of multi-agent systems from the psychological and behavioral perspectives, and thirdly, devising effective strategies to mitigate these risks. Our experiments reveal several intriguing phenomena, such as the collective dangerous behaviors among agents, agents' self-reflection when engaging in dangerous behavior, and the correlation between agents' psychological assessments and dangerous behaviors. We anticipate that our framework and observations will provide valuable insights for further research into the safety of multi-agent systems. We will make our data and code publicly accessible at https://github.com/AI4Good24/PsySafe., Comment: ACL 2024

Remote Direct Memory Access (RDMA) has been haunted by the need of pinning down memory regions. Pinning limits the memory utilization because it impedes on-demand paging and swapping. It also increases the initialization latency of large memory applications from seconds to minutes. To remove memory pining, existing approaches often require special hardware which supports page fault, and still have inferior performance. We propose NP-RDMA, which removes memory pinning during memory registration and enables dynamic page fault handling with commodity RDMA NICs. NP-RDMA does not require NICs to support page fault. Instead, by monitoring local memory paging and swapping with MMU-notifier, combining with IOMMU/SMMU-based address mapping, NP-RDMA efficiently detects and handles page fault in the software with near-zero additional latency to non-page-fault RDMA verbs. We implement an LD_PRELOAD library (with a modified kernel module), which is fully compatible with existing RDMA applications. Experiments show that NP-RDMA adds only 0.1{\sim}2 {\mu}s latency under non-page-fault scenarios. Moreover, NP-RDMA adds only 3.5{\sim}5.7 {\mu}s and 60 {\mu}s under minor or major page faults, respectively, which is 500x faster than ODP which uses advanced NICs that support page fault. With non-pinned memory, Spark initialization is 20x faster and the physical memory usage reduces by 86% with only 5.4% slowdown. Enterprise storage can expand to 5x capacity with SSDs while the average latency is only 10% higher. To the best of our knowledge, NP-RDMA is the first efficient and application-transparent software approach to remove memory pinning using commodity RDMA NICs.

The current interacting hand (IH) datasets are relatively simplistic in terms of background and texture, with hand joints being annotated by a machine annotator, which may result in inaccuracies, and the diversity of pose distribution is limited. However, the variability of background, pose distribution, and texture can greatly influence the generalization ability. Therefore, we present a large-scale synthetic dataset RenderIH for interacting hands with accurate and diverse pose annotations. The dataset contains 1M photo-realistic images with varied backgrounds, perspectives, and hand textures. To generate natural and diverse interacting poses, we propose a new pose optimization algorithm. Additionally, for better pose estimation accuracy, we introduce a transformer-based pose estimation network, TransHand, to leverage the correlation between interacting hands and verify the effectiveness of RenderIH in improving results. Our dataset is model-agnostic and can improve more accuracy of any hand pose estimation method in comparison to other real or synthetic datasets. Experiments have shown that pretraining on our synthetic data can significantly decrease the error from 6.76mm to 5.79mm, and our Transhand surpasses contemporary methods. Our dataset and code are available at https://github.com/adwardlee/RenderIH., Comment: Accepted by ICCV 2023

Hand mesh reconstruction from the monocular image is a challenging task due to its depth ambiguity and severe occlusion, there remains a non-unique mapping between the monocular image and hand mesh. To address this, we develop DiffHand, the first diffusion-based framework that approaches hand mesh reconstruction as a denoising diffusion process. Our one-stage pipeline utilizes noise to model the uncertainty distribution of the intermediate hand mesh in a forward process. We reformulate the denoising diffusion process to gradually refine noisy hand mesh and then select mesh with the highest probability of being correct based on the image itself, rather than relying on 2D joints extracted beforehand. To better model the connectivity of hand vertices, we design a novel network module called the cross-modality decoder. Extensive experiments on the popular benchmarks demonstrate that our method outperforms the state-of-the-art hand mesh reconstruction approaches by achieving 5.8mm PA-MPJPE on the Freihand test set, 4.98mm PA-MPJPE on the DexYCB test set.

In this work, we introduce our solution to the EPIC-KITCHENS-100 2022 Action Detection challenge. One-stage Action Detection Transformer (OADT) is proposed to model the temporal connection of video segments. With the help of OADT, both the category and time boundary can be recognized simultaneously. After ensembling multiple OADT models trained from different features, our model can reach 21.28\% action mAP and ranks the 1st on the test-set of the Action detection challenge.

We incorporate group fairness into the algorithmic centroid clustering problem, where $k$ centers are to be located to serve $n$ agents distributed in a metric space. We refine the notion of proportional fairness proposed in [Chen et al., ICML 2019] as {\em core fairness}, and $k$-clustering is in the core if no coalition containing at least $n/k$ agents can strictly decrease their total distance by deviating to a new center together. Our solution concept is motivated by the situation where agents are able to coordinate and utilities are transferable. A string of existence, hardness and approximability results is provided. Particularly, we propose two dimensions to relax core requirements: one is on the degree of distance improvement, and the other is on the size of deviating coalition. For both relaxations and their combination, we study the extent to which relaxed core fairness can be satisfied in metric spaces including line, tree and general metric space, and design approximation algorithms accordingly., Comment: Appears in ICML 2021