How Strong a Kick Should be to Topple Northeastern's Tumbling Robot? Abstract-- Rough terrain locomotion has remained one of the most challenging mobility questions. In 2022, NASA's Innovative Advanced Concepts (NIAC) Program invited US academic institutions to participate NASA's Breakthrough, Innovative & Game-changing (BIG) Idea competition by proposing novel mobility systems that can negotiate extremely rough terrain, lunar bumpy craters. In this competition, Northeastern University won NASA's top Artemis Award award by proposing an articulated robot tumbler called COBRA (Crater Observing Bio-inspired Rolling Articulator). This report briefly explains the underlying principles that made COBRA successful in competing with other concepts ranging from cable-driven to multilegged designs from six other participating US institutions.

U.S. Federal Regulators receive over one million comment letters each year from businesses, interest groups, and members of the public, all advocating for changes to proposed regulations. These comments are believed to have wide-ranging impacts on public policy. However, measuring the impact of specific comments is challenging because regulators are required to respond to comments but they do not have to specify which comments they are addressing. In this paper, we propose a simple yet effective solution to this problem by using an iterative contrastive method to train a neural model aiming for matching text from public comments to responses written by regulators. We demonstrate that our proposal substantially outperforms a set of selected text-matching baselines on a human-annotated test set. Furthermore, it delivers performance comparable to the most advanced gigantic language model (i.e., GPT-4), and is more cost-effective when handling comments and regulator responses matching in larger scale.

The integration of AI into radiology introduces opportunities for improved clinical care provision and efficiency but it demands a meticulous approach to mitigate potential risks as with any other new technology. Beginning with rigorous pre-deployment evaluation and validation, the focus should be on ensuring models meet the highest standards of safety, effectiveness and efficacy for their intended applications. Input and output guardrails implemented during production usage act as an additional layer of protection, identifying and addressing individual failures as they occur. Continuous post-deployment monitoring allows for tracking population-level performance (data drift), fairness, and value delivery over time. Scheduling reviews of post-deployment model performance and educating radiologists about new algorithmic-driven findings is critical for AI to be effective in clinical practice. Recognizing that no single AI solution can provide absolute assurance even when limited to its intended use, the synergistic application of quality assurance at multiple levels - regulatory, clinical, technical, and ethical - is emphasized. Collaborative efforts between stakeholders spanning healthcare systems, industry, academia, and government are imperative to address the multifaceted challenges involved. Trust in AI is an earned privilege, contingent on a broad set of goals, among them transparently demonstrating that the AI adheres to the same rigorous safety, effectiveness and efficacy standards as other established medical technologies. By doing so, developers can instil confidence among providers and patients alike, enabling the responsible scaling of AI and the realization of its potential benefits. The roadmap presented herein aims to expedite the achievement of deployable, reliable, and safe AI in radiology.

Learning from human feedback is a prominent technique to align the output of large language models (LLMs) with human expectations. Reinforcement learning from human feedback (RLHF) leverages human preference signals that are in the form of ranking of response pairs to perform this alignment. However, human preference on LLM outputs can come in much richer forms including natural language, which may provide detailed feedback on strengths and weaknesses of a given response. In this work we investigate data efficiency of modeling human feedback that is in natural language. Specifically, we fine-tune an open-source LLM, e.g., Falcon-40B-Instruct, on a relatively small amount (1000 records or even less) of human feedback in natural language in the form of critiques and revisions of responses. We show that this model is able to improve the quality of responses from even some of the strongest LLMs such as ChatGPT, BARD, and Vicuna, through critique and revision of those responses. For instance, through one iteration of revision of ChatGPT responses, the revised responses have 56.6% win rate over the original ones, and this win rate can be further improved to 65.9% after applying the revision for five iterations.

General purpose segmentation models are able to generate (semantic) segmentation masks from a variety of prompts, including visual (points, boxed, etc.) and textual (object names) ones. In particular, input images are pre-processed by an image encoder to obtain embedding vectors which are later used for mask predictions. Existing adversarial attacks target the end-to-end tasks, i.e. aim at altering the segmentation mask predicted for a specific image-prompt pair. However, this requires running an individual attack for each new prompt for the same image. We propose instead to generate prompt-agnostic adversarial attacks by maximizing the $\ell_2$-distance, in the latent space, between the embedding of the original and perturbed images. Since the encoding process only depends on the image, distorted image representations will cause perturbations in the segmentation masks for a variety of prompts. We show that even imperceptible $\ell_\infty$-bounded perturbations of radius $\epsilon=1/255$ are often sufficient to drastically modify the masks predicted with point, box and text prompts by recently proposed foundation models for segmentation. Moreover, we explore the possibility of creating universal, i.e. non image-specific, attacks which can be readily applied to any input without further computational cost.

For debugging and verification of computer vision convolutional deep neural networks (CNNs) human inspection of the learned latent representations is imperative. Therefore, state-of-the-art eXplainable Artificial Intelligence (XAI) methods globally associate given natural language semantic concepts with representing vectors or regions in the CNN latent space supporting manual inspection. Yet, this approach comes with two major disadvantages: They are locally inaccurate when reconstructing a concept label and discard information about the distribution of concept instance representations. The latter, though, is of particular interest for debugging, like finding and understanding outliers, learned notions of sub-concepts, and concept confusion. Furthermore, current single-layer approaches neglect that information about a concept may be spread over the CNN depth. To overcome these shortcomings, we introduce the local-to-global Guided Concept Projection Vectors (GCPV) approach: It (1) generates local concept vectors that each precisely reconstruct a concept segmentation label, and then (2) generalizes these to global concept and even sub-concept vectors by means of hiearchical clustering. Our experiments on object detectors demonstrate improved performance compared to the state-of-the-art, the benefit of multi-layer concept vectors, and robustness against low-quality concept segmentation labels. Finally, we demonstrate that GCPVs can be applied to find root causes for confusion of concepts like bus and truck, and reveal interesting concept-level outliers. Thus, GCPVs pose a promising step towards interpretable model debugging and informed data improvement.

Drug-target interaction (DTI) prediction is a challenging, albeit essential task in drug repurposing. Learning on graph models have drawn special attention as they can significantly reduce drug repurposing costs and time commitment. However, many current approaches require high-demanding additional information besides DTIs that complicates their evaluation process and usability. Additionally, structural differences in the learning architecture of current models hinder their fair benchmarking. In this work, we first perform an in-depth evaluation of current DTI datasets and prediction models through a robust benchmarking process, and show that DTI prediction methods based on transductive models lack generalization and lead to inflated performance when evaluated as previously done in the literature, hence not being suited for drug repurposing approaches. We then propose a novel biologically-driven strategy for negative edge subsampling and show through in vitro validation that newly discovered interactions are indeed true. We envision this work as the underpinning for future fair benchmarking and robust model design. All generated resources and tools are publicly available as a python package.

To ensure AI safety, instruction-tuned Large Language Models (LLMs) are specifically trained to ensure alignment, which refers to making models behave in accordance with human intentions. While these models have demonstrated commendable results on various safety benchmarks, the vulnerability of their safety alignment has not been extensively studied. This is particularly troubling given the potential harm that LLMs can inflict. Existing attack methods on LLMs often rely on poisoned training data or the injection of malicious prompts. These approaches compromise the stealthiness and generalizability of the attacks, making them susceptible to detection. Additionally, these models often demand substantial computational resources for implementation, making them less practical for real-world applications. Inspired by recent success in modifying model behavior through steering vectors without the need for optimization, and drawing on its effectiveness in red-teaming LLMs, we conducted experiments employing activation steering to target four key aspects of LLMs: truthfulness, toxicity, bias, and harmfulness - across a varied set of attack settings. To establish a universal attack strategy applicable to diverse target alignments without depending on manual analysis, we automatically select the intervention layer based on contrastive layer search. Our experiment results show that activation attacks are highly effective and add little or no overhead to attack efficiency. Additionally, we discuss potential countermeasures against such activation attacks. Our code and data are available at https://github.com/wang2226/Backdoor-Activation-Attack Warning: this paper contains content that can be offensive or upsetting.

Despite efforts to align large language models to produce harmless responses, they are still vulnerable to jailbreak prompts that elicit unrestricted behaviour. In this work, we investigate persona modulation as a black-box jailbreaking method to steer a target model to take on personalities that are willing to comply with harmful instructions. Rather than manually crafting prompts for each persona, we automate the generation of jailbreaks using a language model assistant. We demonstrate a range of harmful completions made possible by persona modulation, including detailed instructions for synthesising methamphetamine, building a bomb, and laundering money. These automated attacks achieve a harmful completion rate of 42.5% in GPT-4, which is 185 times larger than before modulation (0.23%). These prompts also transfer to Claude 2 and Vicuna with harmful completion rates of 61.0% and 35.9%, respectively. Our work reveals yet another vulnerability in commercial large language models and highlights the need for more comprehensive safeguards.

Artificial Intelligence (AI) has made its way into various scientific fields, providing astonishing improvements over existing algorithms for a wide variety of tasks. In recent years, there have been severe concerns over the trustworthiness of AI technologies. The scientific community has focused on the development of trustworthy AI algorithms. However, machine and deep learning algorithms, popular in the AI community today, depend heavily on the data used during their development. These learning algorithms identify patterns in the data, learning the behavioral objective. Any flaws in the data have the potential to translate directly into algorithms. In this study, we discuss the importance of Responsible Machine Learning Datasets and propose a framework to evaluate the datasets through a responsible rubric. While existing work focuses on the post-hoc evaluation of algorithms for their trustworthiness, we provide a framework that considers the data component separately to understand its role in the algorithm. We discuss responsible datasets through the lens of fairness, privacy, and regulatory compliance and provide recommendations for constructing future datasets. After surveying over 100 datasets, we use 60 datasets for analysis and demonstrate that none of these datasets is immune to issues of fairness, privacy preservation, and regulatory compliance. We provide modifications to the ``datasheets for datasets" with important additions for improved dataset documentation. With governments around the world regularizing data protection laws, the method for the creation of datasets in the scientific community requires revision. We believe this study is timely and relevant in today's era of AI.