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Many imitation learning (IL) algorithms use inverse reinforcement learning (IRL) to infer a reward function that aligns with the demonstration. However, the inferred reward functions often fail to capture the underlying task objectives. In this paper, we propose a novel framework for IRL-based IL that prioritizes task alignment over conventional data alignment. Our framework is a semi-supervised approach that leverages expert demonstrations as weak supervision to derive a set of candidate reward functions that align with the task rather than only with the data. It then adopts an adversarial mechanism to train a policy with this set of reward functions to gain a collective validation of the policy's ability to accomplish the task. We provide theoretical insights into this framework's ability to mitigate task-reward misalignment and present a practical implementation. Our experimental results show that our framework outperforms conventional IL baselines in complex and transfer learning scenarios., Comment: arXiv admin note: substantial text overlap with arXiv:2306.01731

In retrieval-augmented systems, context ranking techniques are commonly employed to reorder the retrieved contexts based on their relevance to a user query. A standard approach is to measure this relevance through the similarity between contexts and queries in the embedding space. However, such similarity often fails to capture the relevance. Alternatively, large language models (LLMs) have been used for ranking contexts. However, they can encounter scalability issues when the number of candidate contexts grows and the context window sizes of the LLMs remain constrained. Additionally, these approaches require fine-tuning LLMs with domain-specific data. In this work, we introduce a scalable ranking framework that combines embedding similarity and LLM capabilities without requiring LLM fine-tuning. Our framework uses a pre-trained LLM to hypothesize the user query based on the retrieved contexts and ranks the context based on the similarity between the hypothesized queries and the user query. Our framework is efficient at inference time and is compatible with many other retrieval and ranking techniques. Experimental results show that our method improves the ranking performance across multiple benchmarks. The complete code and data are available at https://github.com/zwc662/hyqe

Let $\Psi$ be an endomorphism of a nilmanifold $M = N/\Gamma$. We show that the preimages of a point under $\Psi$ become dense exponentially if and only if $\Psi$ is totally non-invertible, which means $(M, \Psi)$ has no invertible factors of quotients of factors. As an application, let $f$ be a non-invertible Anosov covering map on $M$ with one-dimensional stable bundle, if $f$ has such linear part $\Psi$ and is topologically conjugate to $\Psi$, then every periodic point of $f$ admits the same stable Lyapunov exponent with $\Psi$, and hence the conjugacy is automatically smooth along each stable leaf. Conversely, if $\Psi$ is horizontally irreducible, which means the induced horizontal toral endomorphism is irreducible, then $f$ admitting a constant periodic stable Lyapunov exponent implies that there exists a topological conjugacy to $\Psi$. In summary, for an Anosov covering map on a nilmanifold with one-dimensional stable bundle and totally non-invertible, horizontally irreducible linear part, we get the equivalence among the existence of invariant unstable bundle, the existence of topological conjugacy to linear part, and a constant periodic stable Lyapunov exponent.

Optimal control methods provide solutions to safety-critical problems but easily become intractable. Control Barrier Functions (CBFs) have emerged as a popular technique that facilitates their solution by provably guaranteeing safety, through their forward invariance property, at the expense of some performance loss. This approach involves defining a performance objective alongside CBF-based safety constraints that must always be enforced. Unfortunately, both performance and solution feasibility can be significantly impacted by two key factors: (i) the selection of the cost function and associated parameters, and (ii) the calibration of parameters within the CBF-based constraints, which capture the trade-off between performance and conservativeness. %as well as infeasibility. To address these challenges, we propose a Reinforcement Learning (RL)-based Receding Horizon Control (RHC) approach leveraging Model Predictive Control (MPC) with CBFs (MPC-CBF). In particular, we parameterize our controller and use bilevel optimization, where RL is used to learn the optimal parameters while MPC computes the optimal control input. We validate our method by applying it to the challenging automated merging control problem for Connected and Automated Vehicles (CAVs) at conflicting roadways. Results demonstrate improved performance and a significant reduction in the number of infeasible cases compared to traditional heuristic approaches used for tuning CBF-based controllers, showcasing the effectiveness of the proposed method.

Offline safe reinforcement learning (RL) aims to train a constraint satisfaction policy from a fixed dataset. Current state-of-the-art approaches are based on supervised learning with a conditioned policy. However, these approaches fall short in real-world applications that involve complex tasks with rich temporal and logical structures. In this paper, we propose temporal logic Specification-conditioned Decision Transformer (SDT), a novel framework that harnesses the expressive power of signal temporal logic (STL) to specify complex temporal rules that an agent should follow and the sequential modeling capability of Decision Transformer (DT). Empirical evaluations on the DSRL benchmarks demonstrate the better capacity of SDT in learning safe and high-reward policies compared with existing approaches. In addition, SDT shows good alignment with respect to different desired degrees of satisfaction of the STL specification that it is conditioned on.

We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to safely navigate through a conflict area (e.g., traffic intersections, merging roadways, roundabouts). Previous studies have shown that such a network can be targeted by adversarial attacks causing traffic jams or safety violations ending in collisions. We focus on attacks targeting the V2X communication network used to share vehicle data and consider as well uncertainties due to noise in sensor measurements and communication channels. To combat these, motivated by recent work on the safe control of CAVs, we propose a trust-aware robust event-triggered decentralized control and coordination framework that can provably guarantee safety. We maintain a trust metric for each vehicle in the network computed based on their behavior and used to balance the tradeoff between conservativeness (when deeming every vehicle as untrustworthy) and guaranteed safety and security. It is important to highlight that our framework is invariant to the specific choice of the trust framework. Based on this framework, we propose an attack detection and mitigation scheme which has twofold benefits: (i) the trust framework is immune to false positives, and (ii) it provably guarantees safety against false positive cases. We use extensive simulations (in SUMO and CARLA) to validate the theoretical guarantees and demonstrate the efficacy of our proposed scheme to detect and mitigate adversarial attacks., Comment: arXiv admin note: substantial text overlap with arXiv:2305.16818

Two difficulties here make low-light image enhancement a challenging task; firstly, it needs to consider not only luminance restoration but also image contrast, image denoising and color distortion issues simultaneously. Second, the effectiveness of existing low-light enhancement methods depends on paired or unpaired training data with poor generalization performance. To solve these difficult problems, we propose in this paper a new learning-based Retinex decomposition of zero-shot low-light enhancement method, called ZERRINNet. To this end, we first designed the N-Net network, together with the noise loss term, to be used for denoising the original low-light image by estimating the noise of the low-light image. Moreover, RI-Net is used to estimate the reflection component and illumination component, and in order to solve the color distortion and contrast, we use the texture loss term and segmented smoothing loss to constrain the reflection component and illumination component. Finally, our method is a zero-reference enhancement method that is not affected by the training data of paired and unpaired datasets, so our generalization performance is greatly improved, and in the paper, we have effectively validated it with a homemade real-life low-light dataset and additionally with advanced vision tasks, such as face detection, target recognition, and instance segmentation. We conducted comparative experiments on a large number of public datasets and the results show that the performance of our method is competitive compared to the current state-of-the-art methods. The code is available at:https://github.com/liwenchao0615/ZERRINNet, Comment: 16 pages, 66 figures, TCSVT

The localisation of fluorophores is an important aspect of the determination of the biological function of cellular systems. Quantum correlation microscopy (QCM) is a promising technique for providing diffraction unlimited emitter localisation that can be used with either confocal or widefield modalities. However, so far, QCM has not been applied to three dimensional localisation problems. Here we show that quantum correlation microscopy provides diffraction-unlimited three-dimensional localisation for two emitters within a single diffraction-limited spot. By introducing a two-stage maximum likelihood estimator, our modelling shows that localisation precision scales as $1/\sqrt{t}$ where $t$ is the total detection time. Diffraction unlimited localisation is achieved using both intensity and photon correlation from Hanbury Brown and Twiss measurements at as few as four measurement locations.

We address the problem of coordination and control of Connected and Automated Vehicles (CAVs) in the presence of imperfect observations in mixed traffic environment. A commonly used approach is learning-based decision-making, such as reinforcement learning (RL). However, most existing safe RL methods suffer from two limitations: (i) they assume accurate state information, and (ii) safety is generally defined over the expectation of the trajectories. It remains challenging to design optimal coordination between multi-agents while ensuring hard safety constraints under system state uncertainties (e.g., those that arise from noisy sensor measurements, communication, or state estimation methods) at every time step. We propose a safety guaranteed hierarchical coordination and control scheme called Safe-RMM to address the challenge. Specifically, the high-level coordination policy of CAVs in mixed traffic environment is trained by the Robust Multi-Agent Proximal Policy Optimization (RMAPPO) method. Though trained without uncertainty, our method leverages a worst-case Q network to ensure the model's robust performances when state uncertainties are present during testing. The low-level controller is implemented using model predictive control (MPC) with robust Control Barrier Functions (CBFs) to guarantee safety through their forward invariance property. We compare our method with baselines in different road networks in the CARLA simulator. Results show that our method provides best evaluated safety and efficiency in challenging mixed traffic environments with uncertainties., Comment: 6 pages, 6 figures

Ownership verification for neural networks is important for protecting these models from illegal copying, free-riding, re-distribution and other intellectual property misuse. We present a novel methodology for neural network ownership verification based on the notion of latent watermarks. Existing ownership verification methods either modify or introduce constraints to the neural network parameters, which are accessible to an attacker in a white-box attack and can be harmful to the network's normal operation, or train the network to respond to specific watermarks in the inputs similar to data poisoning-based backdoor attacks, which are susceptible to backdoor removal techniques. In this paper, we address these problems by decoupling a network's normal operation from its responses to watermarked inputs during ownership verification. The key idea is to train the network such that the watermarks remain dormant unless the owner's secret key is applied to activate it. The secret key is realized as a specific perturbation only known to the owner to the network's parameters. We show that our approach offers strong defense against backdoor detection, backdoor removal and surrogate model attacks.In addition, our method provides protection against ambiguity attacks where the attacker either tries to guess the secret weight key or uses fine-tuning to embed their own watermarks with a different key into a pre-trained neural network. Experimental results demonstrate the advantages and effectiveness of our proposed approach.

Fluorescence microscopy is of vital importance for understanding biological function. However most fluorescence experiments are only qualitative inasmuch as the absolute number of fluorescent particles can often not be determined. Additionally, conventional approaches to measuring fluorescence intensity cannot distinguish between two or more fluorophores that are excited and emit in the same spectral window, as only the total intensity in a spectral window can be obtained. Here we show that, by using photon number resolving experiments, we are able to determine the number of emitters and their probability of emission for a number of different species, all with the same measured spectral signature. We illustrate our ideas by showing the determination of the number of emitters per species and the probability of photon collection from that species, for one, two, and three otherwise unresolvable fluorophores. The convolution Binomial model is presented to model the counted photons emitted by multiple species. And then the Expectation-Maximization (EM) algorithm is used to match the measured photon counts to the expected convolution Binomial distribution function. In applying the EM algorithm, to leverage the problem of being trapped in a sub-optimal solution, the moment method is introduced in finding the initial guess of the EM algorithm. Additionally, the associated Cram\'er-Rao lower bound is derived and compared with the simulation results.

We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable optimal control problems and Control Barrier Functions (CBFs) that guarantee the satisfaction of all constraints. These solutions can be reduced to a sequence of Quadratic Programs (QPs) which are efficiently solved on line over discrete time steps. However, guaranteeing the feasibility of the CBF-based QP method within each discretized time interval requires the careful selection of time steps which need to be sufficiently small. This creates computational requirements and communication rates between agents which may hinder the controller's application to real CAVs. In this paper, we overcome this limitation by adopting an event-triggered approach for CAVs in a conflict area such that the next QP is triggered by properly defined events with a safety guarantee. We present a laboratory-scale test bed we have developed to emulate merging roadways using mobile robots as CAVs which can be used to demonstrate how the event-triggered scheme is computationally efficient and can handle measurement uncertainties and noise compared to time-driven control while guaranteeing safety., Comment: arXiv admin note: substantial text overlap with arXiv:2203.12089, arXiv:2209.13053

Many imitation learning (IL) algorithms employ inverse reinforcement learning (IRL) to infer the intrinsic reward function that an expert is implicitly optimizing for based on their demonstrated behaviors. However, in practice, IRL-based IL can fail to accomplish the underlying task due to a misalignment between the inferred reward and the objective of the task. In this paper, we address the susceptibility of IL to such misalignment by introducing a semi-supervised reward design paradigm called Protagonist Antagonist Guided Adversarial Reward (PAGAR). PAGAR-based IL trains a policy to perform well under mixed reward functions instead of a single reward function as in IRL-based IL. We identify the theoretical conditions under which PAGAR-based IL can avoid the task failures caused by reward misalignment. We also present a practical on-and-off policy approach to implementing PAGAR-based IL. Experimental results show that our algorithm outperforms standard IL baselines in complex tasks and challenging transfer settings.

We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause safety violations resulting in collisions and traffic jams. In addition, uncooperative (but not necessarily adversarial) CAVs can also induce similar adversarial effects on the traffic network. We propose a decentralized resilient control and coordination scheme that mitigates the effects of adversarial attacks and uncooperative CAVs by utilizing a trust framework. Our trust-aware scheme can guarantee safe collision free coordination and mitigate traffic jams. Simulation results validate the theoretical guarantee of our proposed scheme, and demonstrate that it can effectively mitigate adversarial effects across different traffic scenarios., Comment: Keywords: Resilient control and coordination, Cybersecurity, Safety guaranteed coordination, Connected And Autonomous Vehicles

We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the unpredictability of possibly uncooperative HDVs. We develop a hierarchical controller where at each discrete time step first a coordinator determines the best possible Safe Sequence (SS) which can be realized without any knowledge of human driving behavior. Then, a lower-level decentralized motion controller for each CAV jointly minimizes travel time and energy over a prediction horizon, subject to hard safety constraints dependent on the given safe sequence. This is accomplished using a Model Predictive Controller (MPC) subject to constraints based on Control Barrier Functions (CBFs) which render it computationally efficient. Extensive simulation results are included showing that this hierarchical controller outperforms the commonly adopted Shortest Distance First (SDF) passing sequence over the full range of CAV penetration rates, while also providing safe merging guarantees.

Neural networks (NNs) playing the role of controllers have demonstrated impressive empirical performances on challenging control problems. However, the potential adoption of NN controllers in real-life applications also gives rise to a growing concern over the safety of these neural-network controlled systems (NNCSs), especially when used in safety-critical applications. In this work, we present POLAR-Express, an efficient and precise formal reachability analysis tool for verifying the safety of NNCSs. POLAR-Express uses Taylor model arithmetic to propagate Taylor models (TMs) across a neural network layer-by-layer to compute an overapproximation of the neural-network function. It can be applied to analyze any feed-forward neural network with continuous activation functions. We also present a novel approach to propagate TMs more efficiently and precisely across ReLU activation functions. In addition, POLAR-Express provides parallel computation support for the layer-by-layer propagation of TMs, thus significantly improving the efficiency and scalability over its earlier prototype POLAR. Across the comparison with six other state-of-the-art tools on a diverse set of benchmarks, POLAR-Express achieves the best verification efficiency and tightness in the reachable set analysis.

This paper introduces semi-automatic data tours to aid the exploration of complex networks. Exploring networks requires significant effort and expertise and can be time-consuming and challenging. Distinct from guidance and recommender systems for visual analytics, we provide a set of goal-oriented tours for network overview, ego-network analysis, community exploration, and other tasks. Based on interviews with five network analysts, we developed a user interface (NetworkNarratives) and 10 example tours. The interface allows analysts to navigate an interactive slideshow featuring facts about the network using visualizations and textual annotations. On each slide, an analyst can freely explore the network and specify nodes, links, or subgraphs as seed elements for follow-up tours. Two studies, comprising eight expert and 14 novice analysts, show that data tours reduce exploration effort, support learning about network exploration, and can aid the dissemination of analysis results. NetworkNarratives is available online, together with detailed illustrations for each tour., Comment: 15 pages. Published as a conference paper at the ACM Conference on Human Factors in Computing Systems (CHI) 2023

In geographic data videos, camera movements are frequently used and combined to present information from multiple perspectives. However, creating and editing camera movements requires significant time and professional skills. This work aims to lower the barrier of crafting diverse camera movements for geographic data videos. First, we analyze a corpus of 66 geographic data videos and derive a design space of camera movements with a dimension for geospatial targets and one for narrative purposes. Based on the design space, we propose a set of adaptive camera shots and further develop an interactive tool called GeoCamera. This interactive tool allows users to flexibly design camera movements for geographic visualizations. We verify the expressiveness of our tool through case studies and evaluate its usability with a user study. The participants find that the tool facilitates the design of camera movements., Comment: 15 pages. Published as a conference paper at the ACM Conference on Human Factors in Computing Systems (CHI) 2023

Inertial localisation is an important technique as it enables ego-motion estimation in conditions where external observers are unavailable. However, low-cost inertial sensors are inherently corrupted by bias and noise, which lead to unbound errors, making straight integration for position intractable. Traditional mathematical approaches are reliant on prior system knowledge, geometric theories and are constrained by predefined dynamics. Recent advances in deep learning, that benefit from ever-increasing volumes of data and computational power, allow for data driven solutions that offer more comprehensive understanding. Existing deep inertial odometry solutions rely on estimating the latent states, such as velocity, or are dependant on fixed sensor positions and periodic motion patterns. In this work we propose taking the traditional state estimation recursive methodology and applying it in the deep learning domain. Our approach, which incorporates the true position priors in the training process, is trained on inertial measurements and ground truth displacement data, allowing recursion and to learn both motion characteristics and systemic error bias and drift. We present two end-to-end frameworks for pose invariant deep inertial odometry that utilise self-attention to capture both spatial features and long-range dependencies in inertial data. We evaluate our approaches against a custom 2-layer Gated Recurrent Unit, trained in the same manner on the same data, and tested each approach on a number of different users, devices and activities. Each network had a sequence length weighted relative trajectory error mean $\leq0.4594$m, highlighting the effectiveness of our learning process used in the development of the models.

In this paper, a probabilistic method for map matching localisation based on magnetometery measurement and total magnetic intensity maps is described. We show that the method is able to effectively address the challenge issues associated with map matching using geophysical maps and provides a mechanism of handling map measurement ambiguity and a way of evaluating the underlying quality. Furthermore, the effectiveness of the magnetometery map matching localisation is demonstrated using the simulation of removing position drift of an inertial navigation system, that arises in INS over a long duration, by the magnetometery aiding in the absence GNSS positioning. Simulation results using online maps verified the robustness and effectiveness of the proposed algorithm, particularly, the aiding precision will be getting better if a high sensitivity magnetometer is used., Comment: 16 pages, submitted to the International Association of Geodesy Symposia for Regular article consideration

Emerging multi-robot systems rely on cooperation between humans and robots, with robots following automatically generated motion plans to service application-level tasks. Given the safety requirements associated with operating in proximity to humans and expensive infrastructure, it is important to understand and mitigate the security vulnerabilities of such systems caused by compromised robots who diverge from their assigned plans. We focus on centralized systems, where a *central entity* (CE) is responsible for determining and transmitting the motion plans to the robots, which report their location as they move following the plan. The CE checks that robots follow their assigned plans by comparing their expected location to the location they self-report. We show that this self-reporting monitoring mechanism is vulnerable to *plan-deviation attacks* where compromised robots don't follow their assigned plans while trying to conceal their movement by mis-reporting their location. We propose a two-pronged mitigation for plan-deviation attacks: (1) an attack detection technique leveraging both the robots' local sensing capabilities to report observations of other robots and *co-observation schedules* generated by the CE, and (2) a prevention technique where the CE issues *horizon-limiting announcements* to the robots, reducing their instantaneous knowledge of forward lookahead steps in the global motion plan. On a large-scale automated warehouse benchmark, we show that our solution enables attack prevention guarantees from a stealthy attacker that has compromised multiple robots., Comment: This is the long version of our paper accepted as an extended abstract to AAMAS'23

The Weighted-Mean Subsequence Reduced (W-MSR) algorithm, the state-of-the-art method for Byzantine-resilient design of decentralized multi-robot systems, is based on discarding outliers received over Linear Consensus Protocol (LCP). Although W-MSR provides well-understood theoretical guarantees relating robust network connectivity to the convergence of the underlying consensus, the method comes with several limitations preventing its use at scale: (1) the number of Byzantine robots, F, to tolerate should be known a priori, (2) the requirement that each robot maintains 2F+1 neighbors is impractical for large F, (3) information propagation is hindered by the requirement that F+1 robots independently make local measurements of the consensus property in order for the swarm's decision to change, and (4) W-MSR is specific to LCP and does not generalize to applications not implemented over LCP. In this work, we propose a Decentralized Blocklist Protocol (DBP) based on inter-robot accusations. Accusations are made on the basis of locally-made observations of misbehavior, and once shared by cooperative robots across the network are used as input to a graph matching algorithm that computes a blocklist. DBP generalizes to applications not implemented via LCP, is adaptive to the number of Byzantine robots, and allows for fast information propagation through the multi-robot system while simultaneously reducing the required network connectivity relative to W-MSR. On LCP-type applications, DBP reduces the worst-case connectivity requirement of W-MSR from (2F+1)-connected to (F+1)-connected and the number of cooperative observers required to propagate new information from F+1 to just 1 observer. We demonstrate empirically that our approach to Byzantine resilience scales to hundreds of robots on cooperative target tracking, time synchronization, and localization case studies.

We present a novel methodology for neural network backdoor attacks. Unlike existing training-time attacks where the Trojaned network would respond to the Trojan trigger after training, our approach inserts a Trojan that will remain dormant until it is activated. The activation is realized through a specific perturbation to the network's weight parameters only known to the attacker. Our analysis and the experimental results demonstrate that dormant Trojaned networks can effectively evade detection by state-of-the-art backdoor detection methods.

With the increment of interest in leveraging machine learning technology in safety-critical systems, the robustness of neural networks under external disturbance receives more and more concerns. Global robustness is a robustness property defined on the entire input domain. And a certified globally robust network can ensure its robustness on any possible network input. However, the state-of-the-art global robustness certification algorithm can only certify networks with at most several thousand neurons. In this paper, we propose the GPU-supported global robustness certification framework GROCET, which is more efficient than the previous optimization-based certification approach. Moreover, GROCET provides differentiable global robustness, which is leveraged in the training of globally robust neural networks.

In GNSS-denied environments, aiding a vehicle's inertial navigation system (INS) is crucial to reducing the accumulated navigation drift caused by sensor errors (e.g. bias and noise). One potential solution is to use measurements of gravity as an aiding source. The measurements are matched to a geo-referenced map of Earth's gravity in order to estimate the vehicle's position. In this paper, we propose a novel formulation of the map matching problem using a hidden Markov model (HMM). Specifically, we treat the spatial cells of the map as the hidden states of the HMM and present a Viterbi style algorithm to estimate the most likely sequence of states, i.e. most likely sequence of vehicle positions, that results in the sequence of observed gravity measurements. Using a realistic gravity map, we demonstrate the accuracy of our Viterbi map matching algorithm in a navigation scenario and illustrate its robustness compared to existing methods.

A misspecified reward can degrade sample efficiency and induce undesired behaviors in reinforcement learning (RL) problems. We propose symbolic reward machines for incorporating high-level task knowledge when specifying the reward signals. Symbolic reward machines augment existing reward machine formalism by allowing transitions to carry predicates and symbolic reward outputs. This formalism lends itself well to inverse reinforcement learning, whereby the key challenge is determining appropriate assignments to the symbolic values from a few expert demonstrations. We propose a hierarchical Bayesian approach for inferring the most likely assignments such that the concretized reward machine can discriminate expert demonstrated trajectories from other trajectories with high accuracy. Experimental results show that learned reward machines can significantly improve training efficiency for complex RL tasks and generalize well across different task environment configurations.