In the United States alone accidental home deaths exceed 128,000 per year. Our work aims to enable home robots who respond to emergency scenarios in the home, preventing injuries and deaths. We introduce a new dataset of household emergencies based in the ThreeDWorld simulator. Each scenario in our dataset begins with an instantaneous or periodic sound which may or may not be an emergency. The agent must navigate the multi-room home scene using prior observations, alongside audio signals and images from the simulator, to determine if there is an emergency or not. In addition to our new dataset, we present a modular approach for localizing and identifying potential home emergencies. Underpinning our approach is a novel probabilistic dynamic scene graph (P-DSG), where our key insight is that graph nodes corresponding to agents can be represented with a probabilistic edge. This edge, when refined using Bayesian inference, enables efficient and effective localization of agents in the scene. We also utilize multi-modal vision-language models (VLMs) as a component in our approach, determining object traits (e.g. flammability) and identifying emergencies. We present a demonstration of our method completing a real-world version of our task on a consumer robot, showing the transferability of both our task and our method. Our dataset will be released to the public upon this papers publication.

This important role has led researchers to develop various methods for gathering information about brain activity, resulting in significant advancements in medical signal and image acquisition systems [2]. Among these advancements are functional neuroimaging techniques, such as functional magnetic resonance imaging, magnetoencephalography (MEG), positron emission tomography (PET), and electroencephalography [2]. Among these techniques, electroencephalography stands out due to three key advantages: it is a non-invasive method that allows data generation from any individual, has excellent temporal resolution--effectively capturing events occurring within milliseconds--and is relatively cost-effective compared to other examinations [3]. Electroencephalography monitors the brain's electrical activity through electrodes placed on the scalp, and the resulting data, known as the electroencephalogram (EEG), consists of a time series of electrical potentials that reflect neurological activity [4]. The EEG signal is widely used in the field of neuroscience and has the potential to advance brain-computer interfaces [5], facilitate emotion detection [6], enable classification of sleep stages [7] and help clinicians and researchers in identifying brain diseases, including but not limited to Alzheimer's disease [8], dyslexia [9], schizophrenia [10], Creutzfeldt-Jakob disease [11] and cognitive impairment [12]. Epilepsy, for example, is a neurological disorder characterized by abnormal brain activity that can lead to seizures, unusual behaviors, or even loss of consciousness.

Empirical inference attacks are a popular approach for evaluating the privacy risk of data release mechanisms in practice. While an active attack literature exists to evaluate machine learning models or synthetic data release, we currently lack comparable methods for fixed aggregate statistics, in particular when only a limited number of statistics are released. We here propose an inference attack framework against fixed aggregate statistics and an attribute inference attack called DeSIA. We instantiate DeSIA against the U.S. Census PPMF dataset and show it to strongly outperform reconstruction-based attacks. In particular, we show DeSIA to be highly effective at identifying vulnerable users, achieving a true positive rate of 0.14 at a false positive rate of $10^{-3}$. We then show DeSIA to perform well against users whose attributes cannot be verified and when varying the number of aggregate statistics and level of noise addition. We also perform an extensive ablation study of DeSIA and show how DeSIA can be successfully adapted to the membership inference task. Overall, our results show that aggregation alone is not sufficient to protect privacy, even when a relatively small number of aggregates are being released, and emphasize the need for formal privacy mechanisms and testing before aggregate statistics are released.

Despite the transformative impact of Artificial Intelligence (AI) across various sectors, cyber security continues to rely on traditional static and dynamic analysis tools, hampered by high false positive rates and superficial code comprehension. While generative AI offers promising automation capabilities for software development, leveraging Large Language Models (LLMs) for vulnerability detection presents unique challenges. This paper explores the potential and limitations of LLMs in identifying vulnerabilities, acknowledging inherent weaknesses such as hallucinations, limited context length, and knowledge cut-offs. Previous attempts employing machine learning models for vulnerability detection have proven ineffective due to limited real-world applicability, feature engineering challenges, lack of contextual understanding, and the complexities of training models to keep pace with the evolving threat landscape. Therefore, we propose a robust AI-driven approach focused on mitigating these limitations and ensuring the quality and reliability of LLM based vulnerability detection. Through innovative methodologies combining Retrieval-Augmented Generation (RAG) and Mixtureof-Agents (MoA), this research seeks to leverage the strengths of LLMs while addressing their weaknesses, ultimately paving the way for dependable and efficient AI-powered solutions in securing the ever-evolving software landscape.

Given the high computational complexity of decision tree estimation, classical methods construct a tree by adding one node at a time in a recursive way. To facilitate promoting fairness, we propose a fairness criterion local to the tree nodes. We prove how it is related to the Statistical Parity criterion, popular in the Algorithmic Fairness literature, and show how to incorporate it into standard recursive tree estimation algorithms. We present a tree estimation algorithm called Constrained Logistic Regression Tree (C-LRT), which is a modification of the standard CART algorithm using locally linear classifiers and imposing restrictions as done in Constrained Logistic Regression. Finally, we evaluate the performance of trees estimated with C-LRT on datasets commonly used in the Algorithmic Fairness literature, using various classification and fairness metrics. The results confirm that C-LRT successfully allows to control and balance accuracy and fairness.

Personal use of this material is permitted. Abstract -- Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is to let the human operator decide for the rough movement and to let the robot do fine adjustments, e.g., when the view of the operator is occluded. We present a learning-based concept for shared autonomy that aims at supporting the human operator in a real-time teleoperation setting. At every step, our system tracks the target pose set by the human operator as accurately as possible while at the same time satisfying a set of constraints which influence the robot's behavior . An important characteristic is that the constraints can be dynamically activated and deactivated which allows the system to provide task-specific assistance. Since the system must generate robot commands in real-time, solving an optimization problem in every iteration is not feasible. By evaluating each configuration in parallel, our system is able to select the target configuration which satisfies the constraints and has the minimum distance to the operator's target pose with minimal delay. We evaluate the framework with a pick and place task on a bi-manual setup with two Franka Emika Panda robot arms with Robotiq grippers. Teleoperation allows a human operator to remotely control a robot.

Large Language Models (LLM) are typically trained on vast amounts of data from various sources. Even when designed modularly (e.g., Mixture-of-Experts), LLMs can leak privacy on their sources. Conversely, training such models in isolation arguably prohibits generalization. Large Language Models have brought much disruption in the field of Artificial Intelligence and have transformed various use-cases, from intelligent assistants (Dong et al., 2023) and code copilots (Chen et al., 2021) to agentic web browsing (Zheng et al., 2024) and enhanced tutoring (Ko-talwar et al., 2024). They have shown great scaling potential, devouring terabytes of raw textual or multi-modal data (Kaplan et al., 2020) without their performance plateauing. As this trend continues, all public resources will eventually be consumed. Therefore, tapping into private data silos will become the next significant source of information (Shumailov et al., 2024; Iacob et al., 2024). This introduces the need to orchestrate model training that is somehow separated per region or source. Maintaining separate models, though, quickly becomes intractable and burdensome. Private organizations can own data they want to use for their custom LLM but not expose it publicly Carlini et al. (2021); OpenAI (2023). For instance, client institutions may wish to train domain-specific Copilots (GitHub, 2024) without leaking proprietary information (Niu et al., 2023) to the public domain. To approach this problem, we draw from Modular Learning (Pfeiffer et al., 2023) for routing knowledge across parts of a neural network and adaptively serve to different domains. While off-the-shelf Mixture-of-Experts (MoE) models (Cai et al., 2024) adopt an architecture where different domains can share common parameters - thus enabling knowledge transfer. However, they can introduce privacy risks (Carlini et al., 2019) exactly because of this sharing. In addition, training an entire MoE model under Differential Privacy (DP) significantly reduces its utility as training a large shared backbone network over multiple domains requires adding large amounts of DP noise.

Most real-world classification problems deal with imbalanced datasets, posing a challenge for Artificial Intelligence (AI), i.e., machine learning algorithms, because the minority class, which is of extreme interest, often proves difficult to be detected. This paper empirically evaluates tree boosting methods' performance given different dataset sizes and class distributions, from perfectly balanced to highly imbalanced. For tabular data, tree-based methods such as XGBoost, stand out in several benchmarks due to detection performance and speed. Therefore, XGBoost and Imbalance-XGBoost are evaluated. After introducing the motivation to address risk assessment with machine learning, the paper reviews evaluation metrics for detection systems or binary classifiers. It proposes a method for data preparation followed by tree boosting methods including hyper-parameter optimization. The method is evaluated on private datasets of 1 thousand (K), 10K and 100K samples on distributions with 50, 45, 25, and 5 percent positive samples. As expected, the developed method increases its recognition performance as more data is given for training and the F1 score decreases as the data distribution becomes more imbalanced, but it is still significantly superior to the baseline of precision-recall determined by the ratio of positives divided by positives and negatives. Sampling to balance the training set does not provide consistent improvement and deteriorates detection. In contrast, classifier hyper-parameter optimization improves recognition, but should be applied carefully depending on data volume and distribution. Finally, the developed method is robust to data variation over time up to some point. Retraining can be used when performance starts deteriorating.

Validating the correctness of network protocol implementations is highly challenging due to the oracle and traceability problems. The former determines when a protocol implementation can be considered buggy, especially when the bugs do not cause any observable symptoms. The latter allows developers to understand how an implementation violates the protocol specification, thereby facilitating bug fixes. Unlike existing works that rarely take both problems into account, this work considers both and provides an effective solution using recent advances in large language models (LLMs). Our key observation is that network protocols are often released with structured specification documents, a.k.a. RFC documents, which can be systematically translated to formal protocol message specifications via LLMs. Such specifications, which may contain errors due to the hallucination of LLMs, are used as a quasi-oracle to validate protocol parsers, while the validation results in return gradually refine the oracle. Since the oracle is derived from the document, any bugs we find in a protocol implementation can be traced back to the document, thus addressing the traceability problem. We have extensively evaluated our approach using nine network protocols and their implementations written in C, Python, and Go. The results show that our approach outperforms the state-of-the-art and has detected 69 bugs, with 36 confirmed. The project also demonstrates the potential for fully automating software validation based on natural language specifications, a process previously considered predominantly manual due to the need to understand specification documents and derive expected outputs for test inputs.

Phishing detection on Ethereum has increasingly leveraged advanced machine learning techniques to identify fraudulent transactions. However, limited attention has been given to understanding the effectiveness of feature selection strategies and the role of graph-based models in enhancing detection accuracy. In this paper, we systematically examine these issues by analyzing and contrasting explicit transactional features and implicit graph-based features, both experimentally and analytically. We explore how different feature sets impact the performance of phishing detection models, particularly in the context of Ethereum's transactional network. Additionally, we address key challenges such as class imbalance and dataset composition and their influence on the robustness and precision of detection methods. Our findings demonstrate the advantages and limitations of each feature type, while also providing a clearer understanding of how feature affect model resilience and generalization in adversarial environments.