Abstract--The size of deep learning models in artificial intelligence (AI) software is increasing rapidly, hindering the large-scale deployment on resource-restricted devices (e.g., smartphones). To mitigate this issue, AI software compression plays a crucial role, which aims to compress model size while keeping high performance. However, the intrinsic defects in a big model may be inherited by the compressed one. Such defects may be easily leveraged by adversaries, since a compressed model is usually deployed in a large number of devices without adequate protection. In this article, we aim to address the safe model compression problem from the perspective of safety-performance co-optimization. Specifically, inspired by the test-driven development (TDD) paradigm in software engineering, we propose a test-driven sparse training framework called SafeCompress. Then, considering two kinds of representative and heterogeneous attack mechanisms, i.e., black-box membership inference attack and white-box membership inference attack, we develop two concrete instances called BMIA-SafeCompress and WMIA-SafeCompress. Further, we implement another instance called MMIA-SafeCompress by extending SafeCompress to defend against the occasion when adversaries conduct black-box and white-box membership inference attacks simultaneously. We conduct extensive experiments on five datasets for both computer vision and natural language processing tasks. The results show the effectiveness and generalizability of our framework. We also discuss how to adapt SafeCompress to other attacks besides membership inference attack, demonstrating the flexibility of SafeCompress. Currently, AI software, with DNN as representatives, Model compression aims to compress a big DNN model is recognized as an emerging type of software artifact to a smaller one given specific requirements, e.g., parameter (sometimes known as "software 2.0" [2]). Rashly of DNN-based AI software has increased rapidly in recent compressing a model may lead to severe degeneration in the years (mostly because of a trained deep neural network AI software's task performance such as classification accuracy. For instance, a state-of-the-art model of computer To balance memory storage and task performance, many compression vision contains more than 15 billion parameters [3]. A recent approaches have been proposed and deployed [7], natural language model, GPT-3, is even bigger, surpassing [8]. For example, Han et al. [8] prune AlexNet [1] and reduce 175 billion parameters; this situation requires nearly 1TB of its size by 9 times while losing only 0.01% accuracy in image space to store only the model [4].

This paper presents GenH2R, a framework for learning generalizable vision-based human-to-robot (H2R) handover skills. The goal is to equip robots with the ability to reliably receive objects with unseen geometry handed over by humans in various complex trajectories. We acquire such generalizability by learning H2R handover at scale with a comprehensive solution including procedural simulation assets creation, automated demonstration generation, and effective imitation learning. We leverage large-scale 3D model repositories, dexterous grasp generation methods, and curve-based 3D animation to create an H2R handover simulation environment named \simabbns, surpassing the number of scenes in existing simulators by three orders of magnitude. We further introduce a distillation-friendly demonstration generation method that automatically generates a million high-quality demonstrations suitable for learning. Finally, we present a 4D imitation learning method augmented by a future forecasting objective to distill demonstrations into a visuo-motor handover policy. Experimental evaluations in both simulators and the real world demonstrate significant improvements (at least +10\% success rate) over baselines in all cases. The project page is https://GenH2R.github.io/.

The integration of Artificial Intelligence (AI), particularly Large Language Model (LLM)-based systems, in education has shown promise in enhancing teaching and learning experiences. However, the advent of Multimodal Large Language Models (MLLMs) like GPT-4 with vision (GPT-4V), capable of processing multimodal data including text, sound, and visual inputs, opens a new era of enriched, personalized, and interactive learning landscapes in education. Grounded in theory of multimedia learning, this paper explores the transformative role of MLLMs in central aspects of science education by presenting exemplary innovative learning scenarios. Possible applications for MLLMs could range from content creation to tailored support for learning, fostering competencies in scientific practices, and providing assessment and feedback. These scenarios are not limited to text-based and uni-modal formats but can be multimodal, increasing thus personalization, accessibility, and potential learning effectiveness. Besides many opportunities, challenges such as data protection and ethical considerations become more salient, calling for robust frameworks to ensure responsible integration. This paper underscores the necessity for a balanced approach in implementing MLLMs, where the technology complements rather than supplants the educator's role, ensuring thus an effective and ethical use of AI in science education. It calls for further research to explore the nuanced implications of MLLMs on the evolving role of educators and to extend the discourse beyond science education to other disciplines. Through the exploration of potentials, challenges, and future implications, we aim to contribute to a preliminary understanding of the transformative trajectory of MLLMs in science education and beyond.

We introduce a graph-aware autoencoder ensemble framework, with associated formalisms and tooling, designed to facilitate deep learning for scholarship in the humanities. By composing sub-architectures to produce a model isomorphic to a humanistic domain we maintain interpretability while providing function signatures for each sub-architectural choice, allowing both traditional and computational researchers to collaborate without disrupting established practices. We illustrate a practical application of our approach to a historical study of the American post-Atlantic slave trade, and make several specific technical contributions: a novel hybrid graph-convolutional autoencoder mechanism, batching policies for common graph topologies, and masking techniques for particular use-cases. The effectiveness of the framework for broadening participation of diverse domains is demonstrated by a growing suite of two dozen studies, both collaborations with humanists and established tasks from machine learning literature, spanning a variety of fields and data modalities. We make performance comparisons of several different architectural choices and conclude with an ambitious list of imminent next steps for this research.

Machine translation systems have been widely adopted in our daily life, making life easier and more convenient. Unfortunately, erroneous translations may result in severe consequences, such as financial losses. This requires to improve the accuracy and the reliability of machine translation systems. However, it is challenging to test machine translation systems because of the complexity and intractability of the underlying neural models. To tackle these challenges, we propose a novel metamorphic testing approach by syntactic tree pruning (STP) to validate machine translation systems. Our key insight is that a pruned sentence should have similar crucial semantics compared with the original sentence. Specifically, STP (1) proposes a core semantics-preserving pruning strategy by basic sentence structure and dependency relations on the level of syntactic tree representation; (2) generates source sentence pairs based on the metamorphic relation; (3) reports suspicious issues whose translations break the consistency property by a bag-of-words model. We further evaluate STP on two state-of-the-art machine translation systems (i.e., Google Translate and Bing Microsoft Translator) with 1,200 source sentences as inputs. The results show that STP can accurately find 5,073 unique erroneous translations in Google Translate and 5,100 unique erroneous translations in Bing Microsoft Translator (400% more than state-of-the-art techniques), with 64.5% and 65.4% precision, respectively. The reported erroneous translations vary in types and more than 90% of them cannot be found by state-of-the-art techniques. There are 9,393 erroneous translations unique to STP, which is 711.9% more than state-of-the-art techniques. Moreover, STP is quite effective to detect translation errors for the original sentences with a recall reaching 74.0%, improving state-of-the-art techniques by 55.1% on average.

With the increasing availability of consumer depth sensors, 3D face recognition (FR) has attracted more and more attention. However, the data acquired by these sensors are often coarse and noisy, making them impractical to use directly. In this paper, we introduce an innovative Depth map denoising network (DMDNet) based on the Denoising Implicit Image Function (DIIF) to reduce noise and enhance the quality of facial depth images for low-quality 3D FR. After generating clean depth faces using DMDNet, we further design a powerful recognition network called Lightweight Depth and Normal Fusion network (LDNFNet), which incorporates a multi-branch fusion block to learn unique and complementary features between different modalities such as depth and normal images. Comprehensive experiments conducted on four distinct low-quality databases demonstrate the effectiveness and robustness of our proposed methods. Furthermore, when combining DMDNet and LDNFNet, we achieve state-of-the-art results on the Lock3DFace database.

Hypergraphs are a representation of complex systems involving interactions among more than two entities and allow to investigation of higher-order structure and dynamics in real-world complex systems. Community structure is a common property observed in empirical networks in various domains. Stochastic block models have been employed to investigate community structure in networks. Node attribute data, often accompanying network data, has been found to potentially enhance the learning of community structure in dyadic networks. In this study, we develop a statistical framework that incorporates node attribute data into the learning of community structure in a hypergraph, employing a stochastic block model. We demonstrate that our model, which we refer to as HyperNEO, enhances the learning of community structure in synthetic and empirical hypergraphs when node attributes are sufficiently associated with the communities. Furthermore, we found that applying a dimensionality reduction method, UMAP, to the learned representations obtained using stochastic block models, including our model, maps nodes into a two-dimensional vector space while largely preserving community structure in empirical hypergraphs. We expect that our framework will broaden the investigation and understanding of higher-order community structure in real-world complex systems.

Space AI has become increasingly important and sometimes even necessary for government, businesses, and society. An active research topic under this mission is integrating federated learning (FL) with satellite communications (SatCom) so that numerous low Earth orbit (LEO) satellites can collaboratively train a machine learning model. However, the special communication environment of SatCom leads to a very slow FL training process up to days and weeks. This paper proposes NomaFedHAP, a novel FL-SatCom approach tailored to LEO satellites, that (1) utilizes high-altitude platforms (HAPs) as distributed parameter servers (PS) to enhance satellite visibility, and (2) introduces non-orthogonal multiple access (NOMA) into LEO to enable fast and bandwidth-efficient model transmissions. In addition, NomaFedHAP includes (3) a new communication topology that exploits HAPs to bridge satellites among different orbits to mitigate the Doppler shift, and (4) a new FL model aggregation scheme that optimally balances models between different orbits and shells. Moreover, we (5) derive a closed-form expression of the outage probability for satellites in near and far shells, as well as for the entire system. Our extensive simulations have validated the mathematical analysis and demonstrated the superior performance of NomaFedHAP in achieving fast and efficient FL model convergence with high accuracy as compared to the state-of-the-art.

The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a target position. However, recent work on high-capacity models in robotics has shown promise toward being trained on large collections of diverse and task-agnostic datasets of video demonstrations. These models have shown impressive levels of generalization to unseen circumstances, especially as the amount of data and the model complexity scale. Surgical robot systems that learn from data have struggled to advance as quickly as other fields of robot learning for a few reasons: (1) there is a lack of existing large-scale open-source data to train models, (2) it is challenging to model the soft-body deformations that these robots work with during surgery because simulation cannot match the physical and visual complexity of biological tissue, and (3) surgical robots risk harming patients when tested in clinical trials and require more extensive safety measures. This perspective article aims to provide a path toward increasing robot autonomy in robot-assisted surgery through the development of a multi-modal, multi-task, vision-language-action model for surgical robots. Ultimately, we argue that surgical robots are uniquely positioned to benefit from general-purpose models and provide three guiding actions toward increased autonomy in robot-assisted surgery.

Text Normalization is an integral part of any text-to-speech synthesis system. In a natural language text, there are elements such as numbers, dates, abbreviations, etc. that belong to other semiotic classes. They are called non-standard words (NSW) and need to be expanded into ordinary words. For this purpose, it is necessary to identify the semiotic class of each NSW. The taxonomy of semiotic classes adapted to the Lithuanian language is presented in the work. Sets of rules are created for detecting and expanding NSWs based on regular expressions. Experiments with three completely different data sets were performed and the accuracy was assessed. Causes of errors are explained and recommendations are given for the development of text normalization rules.