Modern orchards are planted in structured rows with distinct panel divisions to improve management. Accurate and efficient joint segmentation of point cloud from Panel to Tree and Branch (P2TB) is essential for robotic operations. However, most current segmentation methods focus on single instance segmentation and depend on a sequence of deep networks to perform joint tasks. This strategy hinders the use of hierarchical information embedded in the data, leading to both error accumulation and increased costs for annotation and computation, which limits its scalability for real-world applications. In this study, we proposed a novel approach that incorporated a Real2Sim L-TreeGen for training data generation and a joint model (J-P2TB) designed for the P2TB task. The J-P2TB model, trained on the generated simulation dataset, was used for joint segmentation of real-world panel point clouds via zero-shot learning. Compared to representative methods, our model outperformed them in most segmentation metrics while using 40% fewer learnable parameters. This Sim2Real result highlighted the efficacy of L-TreeGen in model training and the performance of J-P2TB for joint segmentation, demonstrating its strong accuracy, efficiency, and generalizability for real-world applications. These improvements would not only greatly benefit the development of robots for automated orchard operations but also advance digital twin technology.

Low-light image enhancement aims to restore the under-exposure image captured in dark scenarios. Under such scenarios, traditional frame-based cameras may fail to capture the structure and color information due to the exposure time limitation. Event cameras are bio-inspired vision sensors that respond to pixel-wise brightness changes asynchronously. Event cameras' high dynamic range is pivotal for visual perception in extreme low-light scenarios, surpassing traditional cameras and enabling applications in challenging dark environments. In this paper, inspired by the success of the retinex theory for traditional frame-based low-light image restoration, we introduce the first methods that combine the retinex theory with event cameras and propose a novel retinex-based low-light image restoration framework named ERetinex. Among our contributions, the first is developing a new approach that leverages the high temporal resolution data from event cameras with traditional image information to estimate scene illumination accurately. This method outperforms traditional image-only techniques, especially in low-light environments, by providing more precise lighting information. Additionally, we propose an effective fusion strategy that combines the high dynamic range data from event cameras with the color information of traditional images to enhance image quality. Through this fusion, we can generate clearer and more detail-rich images, maintaining the integrity of visual information even under extreme lighting conditions. The experimental results indicate that our proposed method outperforms state-of-the-art (SOTA) methods, achieving a gain of 1.0613 dB in PSNR while reducing FLOPS by \textbf{84.28}\%.

Tradable credit schemes (TCS) have been attracting interest from the transportation research community as an appealing alternative to congestion pricing, due to the advantages of revenue neutrality and equity. Nonetheless, existing research has largely employed network and market equilibrium approaches with simplistic characterizations of transportation demand, supply, credit market operations, and market behavior. Agent- and activity-based simulation affords a natural means to comprehensively assess TCS by more realistically modeling demand, supply, and individual market interactions. We propose an integrated simulation framework for modeling a TCS, and implements it within the state-of-the-art open-source urban simulation platform SimMobility, including: (a) a flexible TCS design that considers multiple trips and explicitly accounts for individual trading behaviors; (b) a simulation framework that captures the complex interactions between a TCS regulator, the traveler, and the TCS market itself, with the flexibility to test future TCS designs and relevant mobility models; and (c) a set of simulation experiments on a large mesoscopic multimodal network combined with a Bayesian Optimization approach for TCS optimal design. The experiment results indicate network and market performance to stabilize over the day-to-day process, showing the alignment of our agent-based simulation with the known theoretical properties of TCS. We confirm the efficiency of TCS in reducing congestion under the adopted market behavioral assumptions and open the door for simulating different individual behaviors. We measure how TCS impacts differently the local network, heterogeneous users, the different travel behaviors, and how testing different TCS designs can avoid negative market trading behaviors.

Federated learning facilitates collaborative machine learning, enabling multiple participants to collectively develop a shared model while preserving the privacy of individual data. The growing importance of the "right to be forgotten" calls for effective mechanisms to facilitate data removal upon request. In response, federated unlearning (FU) has been developed to efficiently eliminate the influence of specific data from the model. Current FU methods primarily rely on approximate unlearning strategies, which seek to balance data removal efficacy with computational and communication costs, but often fail to completely erase data influence. To address these limitations, we propose FedUHB, a novel exact unlearning approach that leverages the Polyak heavy ball optimization technique, a first-order method, to achieve rapid retraining. In addition, we introduce a dynamic stopping mechanism to optimize the termination of the unlearning process. Our extensive experiments show that FedUHB not only enhances unlearning efficiency but also preserves robust model performance after unlearning. Furthermore, the dynamic stopping mechanism effectively reduces the number of unlearning iterations, conserving both computational and communication resources. FedUHB can be proved as an effective and efficient solution for exact data removal in federated learning settings.

Federated unlearning (FU) offers a promising solution to effectively address the need to erase the impact of specific clients' data on the global model in federated learning (FL), thereby granting individuals the ``Right to be Forgotten". The most straightforward approach to achieve unlearning is to train the model from scratch, excluding clients who request data removal, but it is resource-intensive. Current state-of-the-art FU methods extend traditional FL frameworks by leveraging stored historical updates, enabling more efficient unlearning than training from scratch. However, the use of stored updates introduces significant privacy risks. Adversaries with access to these updates can potentially reconstruct clients' local data, a well-known vulnerability in the privacy domain. While privacy-enhanced techniques exist, their applications to FU scenarios that balance unlearning efficiency with privacy protection remain underexplored. To address this gap, we propose FedADP, a method designed to achieve both efficiency and privacy preservation in FU. Our approach incorporates an adaptive differential privacy (DP) mechanism, carefully balancing privacy and unlearning performance through a novel budget allocation strategy tailored for FU. FedADP also employs a dual-layered selection process, focusing on global models with significant changes and client updates closely aligned with the global model, reducing storage and communication costs. Additionally, a novel calibration method is introduced to facilitate effective unlearning. Extensive experimental results demonstrate that FedADP effectively manages the trade-off between unlearning efficiency and privacy protection.

Recent advancements in speech synthesis models, trained on extensive datasets, have demonstrated remarkable zero-shot capabilities. These models can control content, timbre, and emotion in generated speech based on prompt inputs. Despite these advancements, the choice of prompts significantly impacts the output quality, yet most existing selection schemes do not adequately address the control of emotional intensity. To address this question, this paper proposes a two-stage prompt selection strategy EmoPro, which is specifically designed for emotionally controllable speech synthesis. This strategy focuses on selecting highly expressive and high-quality prompts by evaluating them from four perspectives: emotional expression strength, speech quality, text-emotion consistency, and model generation performance. Experimental results show that prompts selected using the proposed method result in more emotionally expressive and engaging synthesized speech compared to those obtained through baseline. Audio samples and codes will be available at https://whyrrrrun.github.io/EmoPro/.

Presently, with the assistance of advanced LLM application development frameworks, more and more LLM-powered applications can effortlessly augment the LLMs' knowledge with external content using the retrieval augmented generation (RAG) technique. However, these frameworks' designs do not have sufficient consideration of the risk of external content, thereby allowing attackers to undermine the applications developed with these frameworks. In this paper, we reveal a new threat to LLM-powered applications, termed retrieval poisoning, where attackers can guide the application to yield malicious responses during the RAG process. Specifically, through the analysis of LLM application frameworks, attackers can craft documents visually indistinguishable from benign ones. Despite the documents providing correct information, once they are used as reference sources for RAG, the application is misled into generating incorrect responses. Our preliminary experiments indicate that attackers can mislead LLMs with an 88.33\% success rate, and achieve a 66.67\% success rate in the real-world application, demonstrating the potential impact of retrieval poisoning.

Fuzzing, a widely-used technique for bug detection, has seen advancements through Large Language Models (LLMs). Despite their potential, LLMs face specific challenges in fuzzing. In this paper, we identified five major challenges of LLM-assisted fuzzing. To support our findings, we revisited the most recent papers from top-tier conferences, confirming that these challenges are widespread. As a remedy, we propose some actionable recommendations to help improve applying LLM in Fuzzing and conduct preliminary evaluations on DBMS fuzzing. The results demonstrate that our recommendations effectively address the identified challenges.

Robotic branch pruning is a significantly growing research area to cope with the shortage of labor force in the context of agriculture. One fundamental requirement in robotic pruning is the perception of detailed geometry and topology of branches. However, the point clouds obtained in agricultural settings often exhibit incompleteness due to several constraints, thereby restricting the accuracy of downstream robotic pruning. In this work, we addressed the issue of point cloud quality through a simulation-based deep neural network, leveraging a Real-to-Simulation (Real2Sim) data generation pipeline that not only eliminates the need for manual parameterization but also guarantees the realism of simulated data. The simulation-based neural network was applied to jointly perform point cloud completion and skeletonization on real-world partial branches, without additional real-world training. The Sim2Real qualitative completion and skeletonization results showed the model's remarkable capability for geometry reconstruction and topology prediction. Additionally, we quantitatively evaluated the Sim2Real performance by comparing branch-level trait characterization errors using raw incomplete data and complete data. The Mean Absolute Error (MAE) reduced by 75% and 8% for branch diameter and branch angle estimation, respectively, using the best complete data, which indicates the effectiveness of the Real2Sim data in a zero-shot generalization setting. The characterization improvements contributed to the precision and efficacy of robotic branch pruning.

Quantum Neural Network (QNN) combines the Deep Learning (DL) principle with the fundamental theory of quantum mechanics to achieve machine learning tasks with quantum acceleration. Recently, QNN systems have been found to manifest robustness issues similar to classical DL systems. There is an urgent need for ways to test their correctness and security. However, QNN systems differ significantly from traditional quantum software and classical DL systems, posing critical challenges for QNN testing. These challenges include the inapplicability of traditional quantum software testing methods, the dependence of quantum test sample generation on perturbation operators, and the absence of effective information in quantum neurons. In this paper, we propose QuanTest, a quantum entanglement-guided adversarial testing framework to uncover potential erroneous behaviors in QNN systems. We design a quantum entanglement adequacy criterion to quantify the entanglement acquired by the input quantum states from the QNN system, along with two similarity metrics to measure the proximity of generated quantum adversarial examples to the original inputs. Subsequently, QuanTest formulates the problem of generating test inputs that maximize the quantum entanglement sufficiency and capture incorrect behaviors of the QNN system as a joint optimization problem and solves it in a gradient-based manner to generate quantum adversarial examples. Experimental results demonstrate that QuanTest possesses the capability to capture erroneous behaviors in QNN systems (generating 67.48%-96.05% more test samples than the random noise under the same perturbation size constraints). The entanglement-guided approach proves effective in adversarial testing, generating more adversarial examples (maximum increase reached 21.32%).