Large Language Models (LLMs) have rapidly increased in size and apparent capabilities in the last three years, but their training data is largely English text. There is growing interest in multilingual LLMs, and various efforts are striving for models to accommodate languages of communities outside of the Global North, which include many languages that have been historically underrepresented in digital realms. These languages have been coined as "low resource languages" or "long-tail languages", and LLMs performance on these languages is generally poor. While expanding the use of LLMs to more languages may bring many potential benefits, such as assisting cross-community communication and language preservation, great care must be taken to ensure that data collection on these languages is not extractive and that it does not reproduce exploitative practices of the past. Collecting data from languages spoken by previously colonized people, indigenous people, and non-Western languages raises many complex sociopolitical and ethical questions, e.g., around consent, cultural safety, and data sovereignty. Furthermore, linguistic complexity and cultural nuances are often lost in LLMs. This position paper builds on recent scholarship, and our own work, and outlines several relevant social, cultural, and ethical considerations and potential ways to mitigate them through qualitative research, community partnerships, and participatory design approaches. We provide twelve recommendations for consideration when collecting language data on underrepresented language communities outside of the Global North.

Depth estimation plays a pivotal role in autonomous driving, facilitating a comprehensive understanding of the vehicle's 3D surroundings. Radar, with its robustness to adverse weather conditions and capability to measure distances, has drawn significant interest for radar-camera depth estimation. However, existing algorithms process the inherently noisy and sparse radar data by projecting 3D points onto the image plane for pixel-level feature extraction, overlooking the valuable geometric information contained within the radar point cloud. To address this gap, we propose GET-UP, leveraging attention-enhanced Graph Neural Networks (GNN) to exchange and aggregate both 2D and 3D information from radar data. This approach effectively enriches the feature representation by incorporating spatial relationships compared to traditional methods that rely only on 2D feature extraction. Furthermore, we incorporate a point cloud upsampling task to densify the radar point cloud, rectify point positions, and derive additional 3D features under the guidance of lidar data. Finally, we fuse radar and camera features during the decoding phase for depth estimation. We benchmark our proposed GET-UP on the nuScenes dataset, achieving state-of-the-art performance with a 15.3% and 14.7% improvement in MAE and RMSE over the previously best-performing model. Code: https://github.com/harborsarah/GET-UP

Large Vision-Language Models (LVLMs) have demonstrated their powerful multimodal capabilities. However, they also face serious safety problems, as adversaries can induce robustness issues in LVLMs through the use of well-designed adversarial examples. Therefore, LVLMs are in urgent need of detection tools for adversarial examples to prevent incorrect responses. In this work, we first discover that LVLMs exhibit regular attention patterns for clean images when presented with probe questions. We propose an unconventional method named PIP, which utilizes the attention patterns of one randomly selected irrelevant probe question (e.g., "Is there a clock?") to distinguish adversarial examples from clean examples. Regardless of the image to be tested and its corresponding question, PIP only needs to perform one additional inference of the image to be tested and the probe question, and then achieves successful detection of adversarial examples. Even under black-box attacks and open dataset scenarios, our PIP, coupled with a simple SVM, still achieves more than 98% recall and a precision of over 90%. Our PIP is the first attempt to detect adversarial attacks on LVLMs via simple irrelevant probe questions, shedding light on deeper understanding and introspection within LVLMs. The code is available at https://github.com/btzyd/pip.

This paper introduces a novel approach to interactive robots by leveraging the form-factor of cards to create thin robots equipped with vibrational capabilities for locomotion and haptic feedback. The system is composed of flat-shaped robots with on-device sensing and wireless control, which offer lightweight portability and scalability. This research introduces a hardware prototype. Applications include augmented card playing, educational tools, and assistive technology, which showcase CARDinality's versatility in tangible interaction.

Sequential recommendation models have achieved state-of-the-art performance using self-attention mechanism. It has since been found that moving beyond only using item ID and positional embeddings leads to a significant accuracy boost when predicting the next item. In recent literature, it was reported that a multi-dimensional kernel embedding with temporal contextual kernels to capture users' diverse behavioral patterns results in a substantial performance improvement. In this study, we further improve the sequential recommender model's robustness and generalization by introducing a mix-attention mechanism with a layer-wise noise injection (LNI) regularization. We refer to our proposed model as adaptive robust sequential recommendation framework (ADRRec), and demonstrate through extensive experiments that our model outperforms existing self-attention architectures.

The influence of individual differences on the perception and evaluation of interactions with robots has been researched for decades. Some human demographic characteristics have been shown to affect how individuals perceive interactions with robots. Still, it is to-date not clear whether, which and to what extent individual differences influence how we perceive robots, and even less is known about human factors and their effect on the perception of robot movements. In addition, most results on the relevance of individual differences investigate human-robot interactions with humanoid or social robots whereas interactions with industrial robots are underrepresented. We present a literature review on the relationship of robot movements and the influence of demographic variation. Our review reveals a limited comparability of existing findings due to a lack of standardized robot manipulations, various dependent variables used and differing experimental setups including different robot types. In addition, most studies have insufficient sample sizes to derive generalizable results. To overcome these shortcomings, we report the results from a Web-based experiment with 930 participants that studies the effect of demographic characteristics on the evaluation of movement behaviors of an articulated robot arm. Our findings demonstrate that most participants prefer an approach from the side, a large movement range, conventional numbers of rotations, smooth movements and neither fast nor slow movement speeds. Regarding individual differences, most of these preferences are robust to demographic variation, and only gender and age was found to cause slight preference differences between slow and fast movements.

The integration of Large Language Models (LLMs) like GPT-4o into robotic systems represents a significant advancement in embodied artificial intelligence. These models can process multi-modal prompts, enabling them to generate more context-aware responses. However, this integration is not without challenges. One of the primary concerns is the potential security risks associated with using LLMs in robotic navigation tasks. These tasks require precise and reliable responses to ensure safe and effective operation. Multi-modal prompts, while enhancing the robot's understanding, also introduce complexities that can be exploited maliciously. For instance, adversarial inputs designed to mislead the model can lead to incorrect or dangerous navigational decisions. This study investigates the impact of prompt injections on mobile robot performance in LLM-integrated systems and explores secure prompt strategies to mitigate these risks. Our findings demonstrate a substantial overall improvement of approximately 30.8% in both attack detection and system performance with the implementation of robust defence mechanisms, highlighting their critical role in enhancing security and reliability in mission-oriented tasks.

Deep neural networks (DNNs) have made significant strides in tackling challenging tasks in wireless systems, especially when an accurate wireless model is not available. However, when available data is limited, traditional DNNs often yield subpar results due to underfitting. At the same time, large language models (LLMs) exemplified by GPT-3, have remarkably showcased their capabilities across a broad range of natural language processing tasks. But whether and how LLMs can benefit challenging non-language tasks in wireless systems is unexplored. In this work, we propose to leverage the in-context learning ability (a.k.a. prompting) of LLMs to solve wireless tasks in the low data regime without any training or fine-tuning, unlike DNNs which require training. We further demonstrate that the performance of LLMs varies significantly when employed with different prompt templates. To solve this issue, we employ the latest LLM calibration methods. Our results reveal that using LLMs via ICL methods generally outperforms traditional DNNs on the symbol demodulation task and yields highly confident predictions when coupled with calibration techniques.

Online conversations are particularly susceptible to derailment, which can manifest itself in the form of toxic communication patterns including disrespectful comments and abuse. Forecasting conversation derailment predicts signs of derailment in advance enabling proactive moderation of conversations. State-of-the-art approaches to conversation derailment forecasting sequentially encode conversations and use graph neural networks to model dialogue user dynamics. However, existing graph models are not able to capture complex conversational characteristics such as context propagation and emotional shifts. The use of common sense knowledge enables a model to capture such characteristics, thus improving performance. Following this approach, here we derive commonsense statements from a knowledge base of dialogue contextual information to enrich a graph neural network classification architecture. We fuse the multi-source information on utterance into capsules, which are used by a transformer-based forecaster to predict conversation derailment. Our model captures conversation dynamics and context propagation, outperforming the state-of-the-art models on the CGA and CMV benchmark datasets

We present a sample-based motion planning algorithm specialised to a class of underactuated systems using path parameterisation. The structure this class presents under a path parameterisation enables the trivial computation of dynamic feasibility along a path. Using this, a specialised state-based steering mechanism within an RRT motion planning algorithm is developed, enabling the generation of both geometric paths and their time parameterisations without introducing excessive computational overhead. We find with two systems that our algorithm computes feasible trajectories with higher rates of success and lower mean computation times compared to existing approaches.