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We present DiPPeST, a novel image and goal conditioned diffusion-based trajectory generator for quadrupedal robot path planning. DiPPeST is a zero-shot adaptation of our previously introduced diffusion-based 2D global trajectory generator (DiPPeR). The introduced system incorporates a novel strategy for local real-time path refinements, that is reactive to camera input, without requiring any further training, image processing, or environment interpretation techniques. DiPPeST achieves 92% success rate in obstacle avoidance for nominal environments and an average of 88% success rate when tested in environments that are up to 3.5 times more complex in pixel variation than DiPPeR. A visual-servoing framework is developed to allow for real-world execution, tested on the quadruped robot, achieving 80% success rate in different environments and showcasing improved behavior than complex state-of-the-art local planners, in narrow environments.

Sharding enhances blockchain scalability by dividing the network into shards, each managing specific unspent transaction outputs or accounts. As an introduced new transaction type, cross-shard transactions pose a critical challenge to the security and efficiency of sharding blockchains. Currently, there is a lack of a generic sharding consensus pattern that achieves both security and low overhead. In this paper, we present Kronos, a secure sharding blockchain consensus achieving optimized overhead. In particular, we propose a new secure sharding consensus pattern, based on a buffer managed jointly by shard members. Valid transactions are transferred to the payee via the buffer, while invalid ones are rejected through happy or unhappy paths. Kronos is proved to achieve security with atomicity under malicious clients with optimal intra-shard overhead $kB$ ($k$ for involved shard number and $B$ for a Byzantine fault tolerance (BFT) cost). Besides, we propose secure cross-shard certification methods based on batch certification and reliable cross-shard transfer. The former combines hybrid trees or vector commitments, while the latter integrates erasure coding. Handling $b$ transactions, Kronos is proved to achieve reliability with low cross-shard overhead $O(n b \lambda)$ ($n$ for shard size and $\lambda$ for the security parameter). Notably, Kronos imposes no restrictions on BFT and does not rely on time assumptions, offering optional constructions in various modules. We implement Kronos using two prominent BFT protocols: asynchronous Speeding Dumbo and partial synchronous Hotstuff. Extensive experiments demonstrate Kronos scales the consensus nodes to thousands, achieving a substantial throughput of 320 ktx/sec with 2.0 sec latency. Compared with the past solutions, Kronos outperforms, achieving up to a 12* improvement in throughput and a 50% reduction in latency., Comment: The algorithms in Section 4 contain defects and inaccurate descriptions that require correction

Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to navigate complex environments effectively through the integration of data-driven path-planning methods. We propose an approach that utilizes differentiable planners, allowing the learning of end-to-end global plans via a neural network for commanding quadruped robots. The approach leverages 2D maps and obstacle specifications as inputs to generate a global path. To enhance the functionality of the developed neural network-based path planner, we use Vision Transformers (ViT) for map pre-processing, to enable the effective handling of larger maps. Experimental evaluations on two real robotic quadrupeds (Boston Dynamics Spot and Unitree Go1) demonstrate the effectiveness and versatility of the proposed approach in generating reliable path plans., Comment: 6 pages, 6 figures, conference

In this work, we present DiPPeR, a novel and fast 2D path planning framework for quadrupedal locomotion, leveraging diffusion-driven techniques. Our contributions include a scalable dataset generator for map images and corresponding trajectories, an image-conditioned diffusion planner for mobile robots, and a training/inference pipeline employing CNNs. We validate our approach in several mazes, as well as in real-world deployment scenarios on Boston Dynamic's Spot and Unitree's Go1 robots. DiPPeR performs on average 23 times faster for trajectory generation against both search based and data driven path planning algorithms with an average of 87% consistency in producing feasible paths of various length in maps of variable size, and obstacle structure. Website: https://rpl-cs-ucl.github.io/DiPPeR, Comment: 7 pages, 9 figures

Permutation polynomials with coefficients 1 over finite fields attract researchers' interests due to their simple algebraic form. In this paper, we first construct four classes of fractional permutation polynomials over the cyclic subgroup of $ \mathbb{F}_{2^{2m}} $. From these permutation polynomials, three new classes of permutation polynomials with coefficients 1 over $ \mathbb{F}_{2^{2m}} $ are constructed, and three more general new classes of permutation polynomials with coefficients 1 over $ \mathbb{F}_{2^{2m}} $ are constructed using a new method we presented recently. Some known permutation polynomials are the special cases of our new permutation polynomials. Furthermore, we prove that, in all new permutation polynomials, there exists a permutation polynomial which is EA-inequivalent to known permutation polynomials for all even positive integer $ m $. This proof shows that EA-inequivalent permutation polynomials over $ \mathbb{F}_{q} $ can be constructed from EA-equivalent permutation polynomials over the cyclic subgroup of $ \mathbb{F}_{q} $. From this proof, it is obvious that, in all new permutation polynomials, there exists a permutation polynomial of which algebraic degree is the maximum algebraic degree of permutation polynomials over $ \mathbb{F}_{2^{2m}} $.

Multimodal fine-grained sentiment analysis has recently attracted increasing attention due to its broad applications. However, the existing multimodal fine-grained sentiment datasets most focus on annotating the fine-grained elements in text but ignore those in images, which leads to the fine-grained elements in visual content not receiving the full attention they deserve. In this paper, we propose a new dataset, the Multimodal Aspect-Category Sentiment Analysis (MACSA) dataset, which contains more than 21K text-image pairs. The dataset provides fine-grained annotations for both textual and visual content and firstly uses the aspect category as the pivot to align the fine-grained elements between the two modalities. Based on our dataset, we propose the Multimodal ACSA task and a multimodal graph-based aligned model (MGAM), which adopts a fine-grained cross-modal fusion method. Experimental results show that our method can facilitate the baseline comparison for future research on this corpus. We will make the dataset and code publicly available.

The device fingerprinting technique extracts fingerprints based on the hardware characteristics of the device to identify the device. The primary goal of device fingerprinting is to accurately and uniquely identify a device, which requires the generated device fingerprints to have good stability to achieve long-term tracking of the target device. However, the fingerprints generated by some existing fingerprinting technologies are not stable enough or change frequently, making it impossible to track the target device for a long time. In this paper, we present FPHammer, a novel DRAM-based fingerprinting technique. The device fingerprint generated by our technique has high stability and can be used to track the device for a long time. We leverage the Rowhammer technique to repeatedly and quickly access a row in DRAM to get bit flips in its adjacent row. We then construct a physical fingerprint of the device based on the locations of the collected bit flips. The evaluation results of the uniqueness and reliability of the physical fingerprint show that it can be used to distinguish devices with the same hardware and software configuration. The experimental results on device identification demonstrate that the physical fingerprints engendered by our innovative technique are inherently linked to the entirety of the device rather than just the DRAM module. Even if the device modifies software-level parameters such as MAC address and IP address or even reinstalls the operating system, we can accurately identify the target device. This demonstrates that FPHammer can generate stable fingerprints that are not affected by software layer parameters., Comment: This version has been accepted by TrustCom-2023

Permutation polynomials over finite fields are an interesting and constantly active research subject of study for many years. They have important applications in areas of mathematics and engineering. In recent years, permutation binomials and permutation trinomials attract people's interests due to their simple algebraic forms. In this paper, by reversely using Tu's method for the characterization of permutation polynomials with exponents of Niho type, we propose a new method to construct permutation trinomials with coefficients 1. Moreover, we give the explicit compositional inverses of a class of permutation trinomials for a special case.

Android is undergoing unprecedented malicious threats daily, but the existing methods for malware detection often fail to cope with evolving camouflage in malware. To address this issue, we present HAWK, a new malware detection framework for evolutionary Android applications. We model Android entities and behavioural relationships as a heterogeneous information network (HIN), exploiting its rich semantic metastructures for specifying implicit higher-order relationships. An incremental learning model is created to handle the applications that manifest dynamically, without the need for re-constructing the whole HIN and the subsequent embedding model. The model can pinpoint rapidly the proximity between a new application and existing in-sample applications and aggregate their numerical embeddings under various semantics. Our experiments examine more than 80,860 malicious and 100,375 benign applications developed over a period of seven years, showing that HAWK achieves the highest detection accuracy against baselines and takes only 3.5ms on average to detect an out-of-sample application, with the accelerated training time of 50x faster than the existing approach., Comment: The work has been accepted by TNNLS

Sharding is the prevalent approach to breaking the trilemma of simultaneously achieving decentralization, security, and scalability in traditional blockchain systems, which are implemented as replicated state machines relying on atomic broadcast for consensus on an immutable chain of valid transactions. Sharding is to be understood broadly as techniques for dynamically partitioning nodes in a blockchain system into subsets (shards) that perform storage, communication, and computation tasks without fine-grained synchronization with each other. Despite much recent research on sharding blockchains, much remains to be explored in the design space of these systems. Towards that aim, we conduct a systematic analysis of existing sharding blockchain systems and derive a conceptual decomposition of their architecture into functional components and the underlying assumptions about system models and attackers they are built on. The functional components identified are node selection, epoch randomness, node assignment, intra-shard consensus, cross-shard transaction processing, shard reconfiguration, and motivation mechanism. We describe interfaces, functionality, and properties of each component and show how they compose into a sharding blockchain system. For each component, we systematically review existing approaches, identify potential and open problems, and propose future research directions. We focus on potential security attacks and performance problems, including system throughput and latency concerns such as confirmation delays. We believe our modular architectural decomposition and in-depth analysis of each component, based on a comprehensive literature study, provides a systematic basis for conceptualizing state-of-the-art sharding blockchain systems, proving or improving security and performance properties of components, and developing new sharding blockchain system designs.