This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered localization framework that combines shadow edge localization techniques with the strategic deployment of UAVs. This approach not only addresses the challenges associated with nonrigid and poorly connected graphs but also enhances the convergence rate of the localization process. We introduce two key concepts: the S1-Edge approach in our distributed protocol to address the rigidity problem of sparse graphs and the concept of a powerful UAV node to increase the sensing and localization capability of the multi-robot system. Our approach leverages the advantages of the distributed localization methods, enhancing scalability and adaptability in large robot networks. We establish theoretical conditions for the new S1-Edge that ensure solutions exist even in the presence of noise, thereby validating the effectiveness of shadow edge localization. Extensive simulation experiments confirm the superior performance of our method compared to state-of-the-art techniques, resulting in up to 95\% reduction in localization error, demonstrating substantial improvements in localization accuracy and robustness to sparse graphs. This work provides a decisive advancement in the field of multi-robot localization, offering a powerful tool for high-performance and reliable operations in challenging environments.

Recent advancements in large vision language models (VLMs) tailored for autonomous driving (AD) have shown strong scene understanding and reasoning capabilities, making them undeniable candidates for end-to-end driving systems. However, limited work exists on studying the trustworthiness of DriveVLMs -- a critical factor that directly impacts public transportation safety. In this paper, we introduce AutoTrust, a comprehensive trustworthiness benchmark for large vision-language models in autonomous driving (DriveVLMs), considering diverse perspectives -- including trustfulness, safety, robustness, privacy, and fairness. We constructed the largest visual question-answering dataset for investigating trustworthiness issues in driving scenarios, comprising over 10k unique scenes and 18k queries. We evaluated six publicly available VLMs, spanning from generalist to specialist, from open-source to commercial models. Our exhaustive evaluations have unveiled previously undiscovered vulnerabilities of DriveVLMs to trustworthiness threats. Specifically, we found that the general VLMs like LLaVA-v1.6 and GPT-4o-mini surprisingly outperform specialized models fine-tuned for driving in terms of overall trustworthiness. DriveVLMs like DriveLM-Agent are particularly vulnerable to disclosing sensitive information. Additionally, both generalist and specialist VLMs remain susceptible to adversarial attacks and struggle to ensure unbiased decision-making across diverse environments and populations. Our findings call for immediate and decisive action to address the trustworthiness of DriveVLMs -- an issue of critical importance to public safety and the welfare of all citizens relying on autonomous transportation systems. Our benchmark is publicly available at \url{https://github.com/taco-group/AutoTrust}, and the leaderboard is released at \url{https://taco-group.github.io/AutoTrust/}.

We introduce Best-of-N (BoN) Jailbreaking, a simple black-box algorithm that jailbreaks frontier AI systems across modalities. BoN Jailbreaking works by repeatedly sampling variations of a prompt with a combination of augmentations - such as random shuffling or capitalization for textual prompts - until a harmful response is elicited. We find that BoN Jailbreaking achieves high attack success rates (ASRs) on closed-source language models, such as 89% on GPT-4o and 78% on Claude 3.5 Sonnet when sampling 10,000 augmented prompts. Further, it is similarly effective at circumventing state-of-the-art open-source defenses like circuit breakers. BoN also seamlessly extends to other modalities: it jailbreaks vision language models (VLMs) such as GPT-4o and audio language models (ALMs) like Gemini 1.5 Pro, using modality-specific augmentations. BoN reliably improves when we sample more augmented prompts. Across all modalities, ASR, as a function of the number of samples (N), empirically follows power-law-like behavior for many orders of magnitude. BoN Jailbreaking can also be composed with other black-box algorithms for even more effective attacks - combining BoN with an optimized prefix attack achieves up to a 35% increase in ASR. Overall, our work indicates that, despite their capability, language models are sensitive to seemingly innocuous changes to inputs, which attackers can exploit across modalities.

Crop field boundaries are foundational datasets for agricultural monitoring and assessments but are expensive to collect manually. Machine learning (ML) methods for automatically extracting field boundaries from remotely sensed images could help realize the demand for these datasets at a global scale. However, current ML methods for field instance segmentation lack sufficient geographic coverage, accuracy, and generalization capabilities. Further, research on improving ML methods is restricted by the lack of labeled datasets representing the diversity of global agricultural fields. We present Fields of The World (FTW) -- a novel ML benchmark dataset for agricultural field instance segmentation spanning 24 countries on four continents (Europe, Africa, Asia, and South America). FTW is an order of magnitude larger than previous datasets with 70,462 samples, each containing instance and semantic segmentation masks paired with multi-date, multi-spectral Sentinel-2 satellite images. We provide results from baseline models for the new FTW benchmark, show that models trained on FTW have better zero-shot and fine-tuning performance in held-out countries than models that aren't pre-trained with diverse datasets, and show positive qualitative zero-shot results of FTW models in a real-world scenario -- running on Sentinel-2 scenes over Ethiopia.

This work focuses on developing efficient post-hoc explanations for quantum AI algorithms. In classical contexts, the cooperative game theory concept of the Shapley value adapts naturally to post-hoc explanations, where it can be used to identify which factors are important in an AI's decision-making process. An interesting question is how to translate Shapley values to the quantum setting and whether quantum effects could be used to accelerate their calculation. We propose quantum algorithms that can extract Shapley values within some confidence interval. Our method is capable of quadratically outperforming classical Monte Carlo approaches to approximating Shapley values up to polylogarithmic factors in various circumstances. We demonstrate the validity of our approach empirically with specific voting games and provide rigorous proofs of performance for general cooperative games. As Artificial Intelligence (AI) becomes a larger part of critical decision-making processes, it is important to understand the logic behind the decisions being made. Transparency in AI has become a topic of substantial regulatory importance worldwide. In the European Union, the General Data Protection Regulation (GDPR) provides citizens the right to explanations for impactful automated decisions which relate to personal data [1]. More recently, in 2024, the European Union enacted the AI act. The AI act provides individuals, in the context of high-risk AI systems, the right to an explanation for: (i) the use of an AI system in the decision-making process; (ii) the most important elements of that decision [2]. NIST's plan listed explainability as an aspect of trustability, which is one of their key areas of focus. This wave of legislative attention poses a substantial challenge, as many of today's state-of-the-art AI algorithms, such as deep learning models, are unexplainable black boxes [4]. Without specialized tools, AI developers often cannot understand the reasoning of their models.

Natural Language Processing and Generation systems have recently shown the potential to complement and streamline the costly and time-consuming job of professional fact-checkers. In this work, we lift several constraints of current state-of-the-art pipelines for automated fact-checking based on the Retrieval-Augmented Generation (RAG) paradigm. Our goal is to benchmark, under more realistic scenarios, RAG-based methods for the generation of verdicts - i.e., short texts discussing the veracity of a claim - evaluating them on stylistically complex claims and heterogeneous, yet reliable, knowledge bases. Our findings show a complex landscape, where, for example, LLM-based retrievers outperform other retrieval techniques, though they still struggle with heterogeneous knowledge bases; larger models excel in verdict faithfulness, while smaller models provide better context adherence, with human evaluations favouring zero-shot and one-shot approaches for informativeness, and fine-tuned models for emotional alignment.

As Artificial Intelligence (AI) continues to advance rapidly, Friendly AI (FAI) has been proposed to advocate for more equitable and fair development of AI. Despite its importance, there is a lack of comprehensive reviews examining FAI from an ethical perspective, as well as limited discussion on its potential applications and future directions. This paper addresses these gaps by providing a thorough review of FAI, focusing on theoretical perspectives both for and against its development, and presenting a formal definition in a clear and accessible format. Key applications are discussed from the perspectives of eXplainable AI (XAI), privacy, fairness and affective computing (AC). Additionally, the paper identifies challenges in current technological advancements and explores future research avenues. The findings emphasise the significance of developing FAI and advocate for its continued advancement to ensure ethical and beneficial AI development.

Large Language Models (LLMs) have emerged as powerful tools for automating various programming tasks, including security-related ones, such as detecting and fixing vulnerabilities. Despite their promising capabilities, when required to produce or modify pre-existing code, LLMs could introduce vulnerabilities unbeknown to the programmer. When analyzing code, they could miss clear vulnerabilities or signal nonexistent ones. In this Systematic Literature Review (SLR), we aim to investigate both the security benefits and potential drawbacks of using LLMs for a variety of code-related tasks. In particular, first we focus on the types of vulnerabilities that could be introduced by LLMs, when used for producing code. Second, we analyze the capabilities of LLMs to detect and fix vulnerabilities, in any given code, and how the prompting strategy of choice impacts their performance in these two tasks. Last, we provide an in-depth analysis on how data poisoning attacks on LLMs can impact performance in the aforementioned tasks.

Using large language models (LLMs), computers are able to generate a written text in response to a us er request. As this pervasive technology can be applied in numerous contexts, this study analyses the written style of one LLM called GPT by comparing its generated speeches with those of the recent US presidents. To achieve this objective, the State of the Union (SOTU) addresses written by Reagan to Biden are contrasted to those produced by both GPT-3.5 and GPT-4.o versions. Compared to US presidents, GPT tends to overuse the lemma "we" and produce shorter messages with, on average, longer sentences. Moreover, GPT opts for an optimistic tone, opting more often for political (e.g., president, Congress), symbolic (e.g., freedom), and abstract terms (e.g., freedom). Even when imposing an author's style to GPT, the resulting speech remains distinct from addresses written by the target author. Finally, the two GPT versions present distinct characteristics, but both appear overall dissimilar to true presidential messages.

Building safe Large Language Models (LLMs) across multiple languages is essential in ensuring both safe access and linguistic diversity. To this end, we introduce M-ALERT, a multilingual benchmark that evaluates the safety of LLMs in five languages: English, French, German, Italian, and Spanish. M-ALERT includes 15k high-quality prompts per language, totaling 75k, following the detailed ALERT taxonomy. Our extensive experiments on 10 state-of-the-art LLMs highlight the importance of language-specific safety analysis, revealing that models often exhibit significant inconsistencies in safety across languages and categories. For instance, Llama3.2 shows high unsafety in the category crime_tax for Italian but remains safe in other languages. Similar differences can be observed across all models. In contrast, certain categories, such as substance_cannabis and crime_propaganda, consistently trigger unsafe responses across models and languages. These findings underscore the need for robust multilingual safety practices in LLMs to ensure safe and responsible usage across diverse user communities.