We often encounter limited FOV situations due to various factors such as sensor fusion or sensor mount in real-world robot navigation. However, the limited FOV interrupts the generation of descriptions and impacts place recognition adversely. Therefore, we suffer from correcting accumulated drift errors in a consistent map using LiDAR-based place recognition with limited FOV. Thus, in this paper, we propose a robust LiDAR-based place recognition method for handling narrow FOV scenarios. The proposed method establishes spatial organization based on the range-elevation bin and azimuth-elevation bin to represent places. In addition, we achieve a robust place description through reweighting based on vertical direction information. Based on these representations, our method enables addressing rotational changes and determining the initial heading. Additionally, we designed a lightweight and fast approach for the robot's onboard autonomy. For rigorous validation, the proposed method was tested across various LiDAR place recognition scenarios (i.e., single-session, multi-session, and multi-robot scenarios). To the best of our knowledge, we report the first method to cope with the restricted FOV. Our place description and SLAM codes will be released. Also, the supplementary materials of our descriptor are available at \texttt{\url{https://sites.google.com/view/lidar-solid}}.

We introduce an innovative approach to enhancing the empirical risk minimization (ERM) process in model training through a refined reweighting scheme of the training data to enhance fairness. This scheme aims to uphold the sufficiency rule in fairness by ensuring that optimal predictors maintain consistency across diverse sub-groups. We employ a bilevel formulation to address this challenge, wherein we explore sample reweighting strategies. Unlike conventional methods that hinge on model size, our formulation bases generalization complexity on the space of sample weights. We discretize the weights to improve training speed. Empirical validation of our method showcases its effectiveness and robustness, revealing a consistent improvement in the balance between prediction performance and fairness metrics across various experiments.

Multi-instance partial-label learning (MIPL) addresses scenarios where each training sample is represented as a multi-instance bag associated with a candidate label set containing one true label and several false positives. Existing MIPL algorithms have primarily focused on mapping multi-instance bags to candidate label sets for disambiguation, disregarding the intrinsic properties of the label space and the supervised information provided by non-candidate label sets. In this paper, we propose an algorithm named ELIMIPL, i.e., Exploiting conjugate Label Information for Multi-Instance Partial-Label learning, which exploits the conjugate label information to improve the disambiguation performance. To achieve this, we extract the label information embedded in both candidate and non-candidate label sets, incorporating the intrinsic properties of the label space. Experimental results obtained from benchmark and real-world datasets demonstrate the superiority of the proposed ELIMIPL over existing MIPL algorithms and other well-established partial-label learning algorithms.

Neurosymbolic approaches blend the effectiveness of symbolic reasoning with the flexibility of neural networks. In this work, we propose a neurosymbolic architecture for generating SQL queries that builds and explores a solution tree using Best-First Search, with the possibility of backtracking. For this purpose, it integrates a Language Model (LM) with symbolic modules that help catch and correct errors made by the LM on SQL queries, as well as guiding the exploration of the solution tree. We focus on improving the performance of smaller open-source LMs, and we find that our tool, Xander, increases accuracy by an average of 10.9% and reduces runtime by an average of 28% compared to the LM without Xander, enabling a smaller LM (with Xander) to outperform its four-times larger counterpart (without Xander).

Annotation of political discourse is resource-intensive, but recent developments in NLP promise to automate complex annotation tasks. Fine-tuned transformer-based models outperform human annotators in some annotation tasks, but they require large manually annotated training datasets. In our contribution, we explore to which degree a manually annotated dataset can be automatically replicated with today's NLP methods, using unsupervised machine learning and zero- and few-shot learning.

Speech deepfake detection has recently gained significant attention within the multimedia forensics community. Related issues have also been explored, such as the identification of partially fake signals, i.e., tracks that include both real and fake speech segments. However, generating high-quality spliced audio is not as straightforward as it may appear. Spliced signals are typically created through basic signal concatenation. This process could introduce noticeable artifacts that can make the generated data easier to detect. We analyze spliced audio tracks resulting from signal concatenation, investigate their artifacts and assess whether such artifacts introduce any bias in existing datasets. Our findings reveal that by analyzing splicing artifacts, we can achieve a detection EER of 6.16% and 7.36% on PartialSpoof and HAD datasets, respectively, without needing to train any detector. These results underscore the complexities of generating reliable spliced audio data and lead to discussions that can help improve future research in this area.

Modeling feature interactions is crucial for click-through rate (CTR) prediction, particularly when it comes to high-order explicit interactions. Traditional methods struggle with this task because they often predefine a maximum interaction order, which relies heavily on prior knowledge and can limit the model's effectiveness. Additionally, modeling high-order interactions typically leads to increased computational costs. Therefore, the challenge lies in adaptively modeling high-order feature interactions while maintaining efficiency. To address this issue, we introduce Kolmogorov-Arnold Represented Sparse Efficient Interaction Network (KarSein), designed to optimize both predictive accuracy and computational efficiency. We firstly identify limitations of directly applying Kolmogorov-Arnold Networks (KAN) to CTR and then introduce KarSein to overcome these issues. It features a novel architecture that reduces the computational costs of KAN and supports embedding vectors as feature inputs. Additionally, KarSein employs guided symbolic regression to address the challenge of KAN in spontaneously learning multiplicative relationships. Extensive experiments demonstrate KarSein's superior performance, achieving significant predictive accuracy with minimal computational overhead. Furthermore, KarSein maintains strong global explainability while enabling the removal of redundant features, resulting in a sparse network structure. These advantages also position KarSein as a promising method for efficient inference.

Analog and mixed-signal (A/MS) integrated circuits (ICs) are crucial in modern electronics, playing key roles in signal processing, amplification, sensing, and power management. Many IC companies outsource manufacturing to third-party foundries, creating security risks such as stealthy analog Trojans. Traditional detection methods, including embedding circuit watermarks or conducting hardware-based monitoring, often impose significant area and power overheads, and may not effectively identify all types of Trojans. To address these shortcomings, we propose SPICED, a Large Language Model (LLM)-based framework that operates within the software domain, eliminating the need for hardware modifications for Trojan detection and localization. This is the first work using LLM-aided techniques for detecting and localizing syntactical bugs and analog Trojans in circuit netlists, requiring no explicit training and incurring zero area overhead. Our framework employs chain-of-thought reasoning and few-shot examples to teach anomaly detection rules to LLMs. With the proposed method, we achieve an average Trojan coverage of 93.32% and an average true positive rate of 93.4% in identifying Trojan-impacted nodes for the evaluated analog benchmark circuits. These experimental results validate the effectiveness of LLMs in detecting and locating both syntactical bugs and Trojans within analog netlists.

Large Language Models (LLMs) excel at generating human-like dialogues and comprehending text. However, understanding the subtleties of complex exchanges in language remains a challenge. We propose a bootstrapping framework that leverages self-generated feedback to enhance LLM reasoning capabilities for lie detection. The framework consists of three stages: suggestion, feedback collection, and modification. In the suggestion stage, a cost-effective language model generates initial predictions based on game state and dialogue. The feedback-collection stage involves a language model providing feedback on these predictions. In the modification stage, a more advanced language model refines the initial predictions using the auto-generated feedback. We investigate the application of the proposed framework for detecting betrayal and deception in Diplomacy games, and compare it with feedback from professional human players. The LLM-generated feedback exhibits superior quality and significantly enhances the performance of the model. Our approach achieves a 39% improvement over the zero-shot baseline in lying-F1 without the need for any training data, rivaling state-of-the-art supervised learning results.

The astonishing successes of ML have raised growing concern for the fairness of modern methods when deployed in real world settings. However, studies on fairness have mostly focused on supervised ML, while unsupervised outlier detection (OD), with numerous applications in finance, security, etc., have attracted little attention. While a few studies proposed fairness-enhanced OD algorithms, they remain agnostic to the underlying driving mechanisms or sources of unfairness. Even within the supervised ML literature, there exists debate on whether unfairness stems solely from algorithmic biases (i.e. design choices) or from the biases encoded in the data on which they are trained. To close this gap, this work aims to shed light on the possible sources of unfairness in OD by auditing detection models under different data-centric factors. By injecting various known biases into the input data -- as pertain to sample size disparity, under-representation, feature measurement noise, and group membership obfuscation -- we find that the OD algorithms under the study all exhibit fairness pitfalls, although differing in which types of data bias they are more susceptible to. Most notable of our study is to demonstrate that OD algorithm bias is not merely a data bias problem. A key realization is that the data properties that emerge from bias injection could as well be organic -- as pertain to natural group differences w.r.t. sparsity, base rate, variance, and multi-modality. Either natural or biased, such data properties can give rise to unfairness as they interact with certain algorithmic design choices.