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The rapid growth of Internet of Things (IoT) devices has introduced significant challenges to privacy, particularly as network traffic analysis techniques evolve. While encryption protects data content, traffic attributes such as packet size and timing can reveal sensitive information about users and devices. Existing single-technique obfuscation methods, such as packet padding, often fall short in dynamic environments like smart homes due to their predictability, making them vulnerable to machine learning-based attacks. This paper introduces a multi-technique obfuscation framework designed to enhance privacy by disrupting traffic analysis. The framework leverages six techniques-Padding, Padding with XORing, Padding with Shifting, Constant Size Padding, Fragmentation, and Delay Randomization-to obscure traffic patterns effectively. Evaluations on three public datasets demonstrate significant reductions in classifier performance metrics, including accuracy, precision, recall, and F1 score. We assess the framework's robustness against adversarial tactics by retraining and fine-tuning neural network classifiers on obfuscated traffic. The results reveal a notable degradation in classifier performance, underscoring the framework's resilience against adaptive attacks. Furthermore, we evaluate communication and system performance, showing that higher obfuscation levels enhance privacy but may increase latency and communication overhead.

Even though Truck Mounted Attenuators (TMA)/Autonomous Truck Mounted Attenuators (ATMA) and traffic control devices are increasingly used in mobile work zones to enhance safety, work zone collisions remain a significant safety concern in the United States. In Missouri, there were 63 TMA-related crashes in 2023, a 27% increase compared to 2022. Currently, all the signs in the mobile work zones are passive safety measures, relying on drivers' recognition and attention. Some distracted drivers may ignore these signs and warnings, raising safety concerns. In this study, we proposed an additional proactive warning system that could be applied to the TMA/ATMA to improve overall safety. A feasible solution has been demonstrated by integrating a Panoptic Driving Perception algorithm into the Robot Operating System (ROS) and applying it to the TMA/ATMA systems. This enables us to alert vehicles on a collision course with the TMA. Our experimental setup, currently conducted in a laboratory environment with two ROS robots and a desktop GPU, demonstrates the system's capability to calculate real-time distance and speed and activate warning signals. Leveraging ROS's distributed computing capabilities allows for flexible system deployment and cost reduction. In future field tests, by combining the stopping sight distance (SSD) standards from the AASHTO Green Book, the system enables real-time monitoring of oncoming vehicles and provides additional proactive warnings to enhance the safety of mobile work zones.

The rapid expansion of Internet of Things (IoT) ecosystems has introduced growing complexities in device management and network security. To address these challenges, we present a unified framework that combines context-driven large language models (LLMs) for IoT administrative tasks with a fine-tuned anomaly detection module for network traffic analysis. The framework streamlines administrative processes such as device management, troubleshooting, and security enforcement by harnessing contextual knowledge from IoT manuals and operational data. The anomaly detection model achieves state-of-the-art performance in identifying irregularities and threats within IoT traffic, leveraging fine-tuning to deliver exceptional accuracy. Evaluations demonstrate that incorporating relevant contextual information significantly enhances the precision and reliability of LLM-based responses for diverse IoT administrative tasks. Additionally, resource usage metrics such as execution time, memory consumption, and response efficiency demonstrate the framework's scalability and suitability for real-world IoT deployments.

Autonomous robot navigation in off-road environments presents a number of challenges due to its lack of structure, making it difficult to handcraft robust heuristics for diverse scenarios. While learned methods using hand labels or self-supervised data improve generalizability, they often require a tremendous amount of data and can be vulnerable to domain shifts. To improve generalization in novel environments, recent works have incorporated adaptation and self-supervision to develop autonomous systems that can learn from their own experiences online. However, current works often rely on significant prior data, for example minutes of human teleoperation data for each terrain type, which is difficult to scale with more environments and robots. To address these limitations, we propose SALON, a perception-action framework for fast adaptation of traversability estimates with minimal human input. SALON rapidly learns online from experience while avoiding out of distribution terrains to produce adaptive and risk-aware cost and speed maps. Within seconds of collected experience, our results demonstrate comparable navigation performance over kilometer-scale courses in diverse off-road terrain as methods trained on 100-1000x more data. We additionally show promising results on significantly different robots in different environments. Our code is available at https://theairlab.org/SALON.

We consider a Schr\"odinger bridge problem where the Markov process is subject to parameter perturbations, forming an ensemble of systems. Our objective is to steer this ensemble from the initial distribution to the final distribution using controls robust to the parameter perturbations. Utilizing the path integral formalism, we demonstrate that the optimal control is a non-Markovian strategy, specifically a stochastic feedforward control, which depends on past and present noise. This unexpected deviation from established strategies for Schr\"odinger bridge problems highlights the intricate interrelationships present in the system's dynamics. From the perspective of optimal transport, a significant by-product of our work is the demonstration that, when the evolution of a distribution is subject to parameter perturbations, it is possible to robustly deform the distribution to a desired final state using stochastic feedforward controls.

Generating optimal trajectories for high-dimensional robotic systems in a time-efficient manner while adhering to constraints is a challenging task. This paper introduces PHLAME, which applies pseudospectral collocation and spatial vector algebra to efficiently solve the Affine Geometric Heat Flow (AGHF) Partial Differential Equation (PDE) for trajectory optimization. Unlike traditional PDE approaches like the Hamilton-Jacobi-Bellman (HJB) PDE, which solve for a function over the entire state space, computing a solution to the AGHF PDE scales more efficiently because its solution is defined over a two-dimensional domain, thereby avoiding the intractability of state-space scaling. To solve the AGHF one usually applies the Method of Lines (MOL), which discretizes one variable of the AGHF PDE, and converts the PDE into a system of ordinary differential equations (ODEs) that are solved using standard time-integration methods. Though powerful, this method requires a fine discretization to generate accurate solutions and requires evaluating the AGHF PDE which is computationally expensive for high-dimensional systems. PHLAME overcomes this deficiency by using a pseudospectral method, which reduces the number of function evaluations required to yield a high accuracy solution thereby allowing it to scale efficiently to high-dimensional robotic systems. To further increase computational speed, this paper presents analytical expressions for the AGHF and its Jacobian, both of which can be computed efficiently using rigid body dynamics algorithms. PHLAME is tested across various dynamical systems, with and without obstacles and compared to a number of state-of-the-art techniques. PHLAME generates trajectories for a 44-dimensional state-space system in $\sim5$ seconds, much faster than current state-of-the-art techniques. A project page is available at https://roahmlab.github.io/PHLAME/, Comment: 26 pages, 8 figures, A project page can be found at https://roahmlab.github.io/PHLAME/

This study examines the pitch content in traditional Ghanaian seperewa (Akan harp-lute) songs, utilizing a unique dataset from field recordings of the mid-twentieth century. We selected 71 songs and used Demucs to isolate vocals from instrumental tracks. We then retrieved the F0 content from these isolated tacks and applied Gaussian Mixture Models (GMM) to approximate musical scales. Comparative F0 analysis between vocals and seperewa revealed higher microtonal deviations from equal temperament in vocal tracks. We also note challenges in using MIR tools for musical scale approximation in non-Western music. Our research contributes to the quantitative study of pitch in traditional music of Sub-Saharan Africa.

To enhance large language models (LLMs) for chemistry problem solving, several LLM-based agents augmented with tools have been proposed, such as ChemCrow and Coscientist. However, their evaluations are narrow in scope, leaving a large gap in understanding the benefits of tools across diverse chemistry tasks. To bridge this gap, we develop ChemAgent, an enhanced chemistry agent over ChemCrow, and conduct a comprehensive evaluation of its performance on both specialized chemistry tasks and general chemistry questions. Surprisingly, ChemAgent does not consistently outperform its base LLMs without tools. Our error analysis with a chemistry expert suggests that: For specialized chemistry tasks, such as synthesis prediction, we should augment agents with specialized tools; however, for general chemistry questions like those in exams, agents' ability to reason correctly with chemistry knowledge matters more, and tool augmentation does not always help.

Accurate prediction of chemical reaction yields is crucial for optimizing organic synthesis, potentially reducing time and resources spent on experimentation. With the rise of artificial intelligence (AI), there is growing interest in leveraging AI-based methods to accelerate yield predictions without conducting in vitro experiments. We present log-RRIM, an innovative graph transformer-based framework designed for predicting chemical reaction yields. Our approach implements a unique local-to-global reaction representation learning strategy. This approach initially captures detailed molecule-level information and then models and aggregates intermolecular interactions, ensuring that the impact of varying-sizes molecular fragments on yield is accurately accounted for. Another key feature of log-RRIM is its integration of a cross-attention mechanism that focuses on the interplay between reagents and reaction centers. This design reflects a fundamental principle in chemical reactions: the crucial role of reagents in influencing bond-breaking and formation processes, which ultimately affect reaction yields. log-RRIM outperforms existing methods in our experiments, especially for medium to high-yielding reactions, proving its reliability as a predictor. Its advanced modeling of reactant-reagent interactions and sensitivity to small molecular fragments make it a valuable tool for reaction planning and optimization in chemical synthesis. The data and codes of log-RRIM are accessible through https://github.com/ninglab/Yield_log_RRIM., Comment: 18 pages, 8 figures

The advancements of language language models (LLMs) have piqued growing interest in developing LLM-based language agents to automate scientific discovery end-to-end, which has sparked both excitement and skepticism about their true capabilities. In this work, we call for rigorous assessment of agents on individual tasks in a scientific workflow before making bold claims on end-to-end automation. To ensure the scientific authenticity and real-world relevance of our benchmark, we extract 102 tasks from 44 peer-reviewed publications in four disciplines and engage nine subject matter experts to validate them. We unify the target output for every task to a self-contained Python program file and employ an array of evaluation metrics to examine the generated programs, execution results, and costs. Each task goes through multiple rounds of manual validation by annotators and subject matter experts to ensure its annotation quality and scientific plausibility. We also propose two effective strategies to mitigate data contamination concerns. Using our benchmark, we evaluate five open-weight and proprietary LLMs, each with three frameworks: direct prompting, OpenHands CodeAct, and self-debug. Given three attempts for each task, the best-performing agent can only solve 32.4% of the tasks independently and 34.3% with expert-provided knowledge. In addition, we evaluate OpenAI o1 with direct prompting and self-debug, which demonstrates the effectiveness of increasing inference-time compute. Still, our results underscore the limitations of current language agents in generating code for data-driven discovery, let alone end-to-end automation for scientific research., Comment: 57 pages

Neural Radiance Fields and Gaussian Splatting have transformed the field of computer vision by enabling photo-realistic representation of complex scenes. Despite this success, they have seen only limited use in real-world robotics tasks such as trajectory optimization. Two key factors have contributed to this limited success. First, it is challenging to reason about collisions in radiance models. Second, it is difficult to perform inference of radiance models fast enough for real-time trajectory synthesis. This paper addresses these challenges by proposing SPLANNING, a risk-aware trajectory optimizer that operates in a Gaussian Splatting model. This paper first derives a method for rigorously upper-bounding the probability of collision between a robot and a radiance field. Second, this paper introduces a normalized reformulation of Gaussian Splatting that enables the efficient computation of the collision bound in a Gaussian Splat. Third, a method is presented to optimize trajectories while avoiding collisions with a scene represented by a Gaussian Splat. Experiments demonstrate that SPLANNING outperforms state-of-the-art methods in generating collision-free trajectories in highly cluttered environments. The proposed system is also tested on a real-world robot manipulator. A project page is available at https://roahmlab.github.io/splanning., Comment: First two authors contributed equally. Project Page: https://roahmlab.github.io/splanning

Automated pavement monitoring using computer vision can analyze pavement conditions more efficiently and accurately than manual methods. Accurate segmentation is essential for quantifying the severity and extent of pavement defects and consequently, the overall condition index used for prioritizing rehabilitation and maintenance activities. Deep learning-based segmentation models are however, often supervised and require pixel-level annotations, which can be costly and time-consuming. While the recent evolution of zero-shot segmentation models can generate pixel-wise labels for unseen classes without any training data, they struggle with irregularities of cracks and textured pavement backgrounds. This research proposes a zero-shot segmentation model, PaveSAM, that can segment pavement distresses using bounding box prompts. By retraining SAM's mask decoder with just 180 images, pavement distress segmentation is revolutionized, enabling efficient distress segmentation using bounding box prompts, a capability not found in current segmentation models. This not only drastically reduces labeling efforts and costs but also showcases our model's high performance with minimal input, establishing the pioneering use of SAM in pavement distress segmentation. Furthermore, researchers can use existing open-source pavement distress images annotated with bounding boxes to create segmentation masks, which increases the availability and diversity of segmentation pavement distress datasets.

Structural health monitoring (SHM) is essential for ensuring the safety and longevity of infrastructure, but complex image environments, noisy labels, and reliance on manual damage assessments often hinder its effectiveness. This study introduces the Guided Detection Network (Guided-DetNet), a framework designed to address these challenges. Guided-DetNet is characterized by a Generative Attention Module (GAM), Hierarchical Elimination Algorithm (HEA), and Volumetric Contour Visual Assessment (VCVA). GAM leverages cross-horizontal and cross-vertical patch merging and cross-foreground-background feature fusion to generate varied features to mitigate complex image environments. HEA addresses noisy labeling using hierarchical relationships among classes to refine instances given an image by eliminating unlikely class instances. VCVA assesses the severity of detected damages via volumetric representation and quantification leveraging the Dirac delta distribution. A comprehensive quantitative study and two robustness tests were conducted using the PEER Hub dataset, and a drone-based application, which involved a field experiment, was conducted to substantiate Guided-DetNet's promising performances. In triple classification tasks, the framework achieved 96% accuracy, surpassing state-of-the-art classifiers by up to 3%. In dual detection tasks, it outperformed competitive detectors with a precision of 94% and a mean average precision (mAP) of 79% while maintaining a frame rate of 57.04fps, suitable for real-time applications. Additionally, robustness tests demonstrated resilience under adverse conditions, with precision scores ranging from 79% to 91%. Guided-DetNet is established as a robust and efficient framework for SHM, offering advancements in automation and precision, with the potential for widespread application in drone-based infrastructure inspections.

In this work, we consider the dynamics of repairable systems characterized by three distinct states: one signifying normal operational states, another representing degraded conditions and a third denoting failed conditions. These systems are characterized by their ability to be repaired when failures and/or degradation occur. Typically described by transport equations, these systems exhibit a coupled nature, interlinked through integro-differential equations and integral boundary conditions that dictate the transitions among all the states. In this paper, we address two less-explored facets: 1) the well-posedness and the asymptotic behavior of such systems with maximum repair time being finite; and 2) the bilinear controllability of the system via repair actions. In particular, we focus on the case where only one degraded and one failed states exist. We first discuss part 1) for given time-independent repair rates and then design the space-time dependent repair strategies that can manipulate system dynamics to achieve the desired level over a finite horizon. Our objective is to enhance the system availability -- the probability of being operational when needed over a fixed period of time. We present rigorous analysis and develop control strategies that leverage the bilinear structure of the system model.

Reparable systems are systems that are characterized by their ability to undergo maintenance actions when failures occur. These systems are often described by transport equations, all coupled through an integro-differential equation. In this paper, we address the understudied aspect of the controllability of reparable systems. In particular, we focus on a two-state reparable system and our goal is to design a control strategy that enhances the system availability -- the probability of being operational when needed. We establish bilinear controllability, demonstrating that appropriate control actions can manipulate system dynamics to achieve desired availability levels. We provide theoretical foundations and develop control strategies that leverage the bilinear structure of the equations.

Generating receding-horizon motion trajectories for autonomous vehicles in real-time while also providing safety guarantees is challenging. This is because a future trajectory needs to be planned before the previously computed trajectory is completely executed. This becomes even more difficult if the trajectory is required to satisfy continuous-time collision-avoidance constraints while accounting for a large number of obstacles. To address these challenges, this paper proposes a novel real-time, receding-horizon motion planning algorithm named REachability-based trajectory Design via Exact Formulation of Implicit NEural signed Distance functions (REDEFINED). REDEFINED first applies offline reachability analysis to compute zonotope-based reachable sets that overapproximate the motion of the ego vehicle. During online planning, REDEFINED leverages zonotope arithmetic to construct a neural implicit representation that computes the exact signed distance between a parameterized swept volume of the ego vehicle and obstacle vehicles. REDEFINED then implements a novel, real-time optimization framework that utilizes the neural network to construct a collision avoidance constraint. REDEFINED is compared to a variety of state-of-the-art techniques and is demonstrated to successfully enable the vehicle to safely navigate through complex environments. Code, data, and video demonstrations can be found at https://roahmlab.github.io/redefined/.

In both animals and robots, locomotion capabilities are determined by the physical structure of the system. The majority of legged animals and robots are bilaterally symmetric, which facilitates locomotion with consistent headings and obstacle traversal, but leads to constraints in their turning ability. On the other hand, radially symmetric animals have demonstrated rapid turning abilities enabled by their omni-directional body plans. Radially symmetric tripedal robots are able to turn instantaneously, but are commonly constrained by needing to change direction with every step, resulting in inefficient and less stable locomotion. We address these challenges by introducing a novel design for a tripedal robot that has both frictional and rolling contacts. Additionally, a freely rotating central sphere provides an added contact point so the robot can retain a stable tripod base of support while lifting and pushing with any one of its legs. The SKating, Omni-Oriented, Tripedal Robot (SKOOTR) is more versatile and stable than other existing tripedal robots. It is capable of multiple forward gaits, multiple turning maneuvers, obstacle traversal, and stair climbing. SKOOTR has been designed to facilitate customization for diverse applications: it is fully open-source, is constructed with 3D printed or off-the-shelf parts, and costs approximately $500 USD to build.

The presence of a second critical point in water has been a topic of intense investigation for the last few decades. The molecular origins underlying this phenomenon are typically rationalized in terms of the competition between local high-density (HD) and low-density (LD) structures. Their identification often require designing parameters that are subject to human intervention. Herein, we use unsupervised learning to discover structures in atomistic simulations of water close to the Liquid-Liquid Critical point (LLCP). Encoding the information of the environment using local descriptors, we do not find evidence for two distinct thermodynamic structures. In contrast, when we deploy non-local descriptors that probe instead heterogeneities on the nanometer length scale, this leads to the emergence of LD and HD domains rationalizing the microscopic origins of the density fluctuations close to criticality.