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State-of-the-art model-based control designs have been shown to be successful in realizing dynamic locomotion behaviors for robotic systems. The precision of the realized behaviors in terms of locomotion performance via fly, hopping, or walking has not yet been well investigated, despite the fact that the difference between the robot model and physical hardware is doomed to produce inaccurate trajectory tracking. To address this inaccuracy, we propose a referencing-steering method to bridge the model-to-real gap by establishing a data-driven input-output (DD-IO) model on top of the existing model-based design. The DD-IO model takes the reference tracking trajectories as the input and the realized tracking trajectory as the output. By utilizing data-driven predictive control, we steer the reference input trajectories online so that the realized output ones match the actual desired ones. We demonstrate our method on the robot PogoX to realize hyper-accurate hopping and flying behaviors in both simulation and hardware. This data-driven reference-steering approach is straightforward to apply to general robotic systems for performance improvement via hyper-accurate trajectory tracking., Comment: 7 pages, 5 figures

In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and education by providing a cost-effective implementation with step-by-step instructions for building a bipedal robotic platform while providing flexible customizations via a modular and durable design. Moreover, a versatile terrain setup and a quantitative disturbance injection system are augmented to the robot platform to replicate natural terrains and push forces that can be used to evaluate legged locomotion in practical and adversarial scenarios. We demonstrate the functionalities of this platform by realizing an adaptive step-to-step dynamics based walking controller to achieve dynamic walking. Our work with the open-soured implementation shows that STRIDE is a highly versatile and durable platform that can be used in research and education to evaluate locomotion algorithms, mechanical designs, and robust and adaptative controls., Comment: 8 pages, 8 figures

Deploying machine learning in open environments presents the challenge of encountering diverse test inputs that differ significantly from the training data. These out-of-distribution samples may exhibit shifts in local or global features compared to the training distribution. The machine learning (ML) community has responded with a number of methods aimed at distinguishing anomalous inputs from original training data. However, the majority of previous studies have primarily focused on the output layer or penultimate layer of pre-trained deep neural networks. In this paper, we propose a novel framework, Multitesting-based Layer-wise Out-of-Distribution (OOD) Detection (MLOD), to identify distributional shifts in test samples at different levels of features through rigorous multiple testing procedure. Our approach distinguishes itself from existing methods as it does not require modifying the structure or fine-tuning of the pre-trained classifier. Through extensive experiments, we demonstrate that our proposed framework can seamlessly integrate with any existing distance-based inspection method while efficiently utilizing feature extractors of varying depths. Our scheme effectively enhances the performance of out-of-distribution detection when compared to baseline methods. In particular, MLOD-Fisher achieves superior performance in general. When trained using KNN on CIFAR10, MLOD-Fisher significantly lowers the false positive rate (FPR) from 24.09% to 7.47% on average compared to merely utilizing the features of the last layer.

As a paradigmatic model for nonlinear dynamics studies, the Hopfield Neural Network (HNN) demonstrates a high susceptibility to external disturbances owing to its intricate structure. This paper delves into the challenge of modulating HNN dynamics through time-variant stimuli. The effects of adjustments using two distinct types of time-variant stimuli, namely the Weight Matrix Stimulus (WMS) and the State Variable Stimulus (SVS), along with a Constant Stimulus (CS) are reported. The findings reveal that deploying four WMSs enables the HNN to generate either a four-scroll or a coexisting two-scroll attractor. When combined with one SVS, four WMSs can lead to the formation of an eight-scroll or four-scroll attractor, while the integration of four WMSs and multiple SVSs can induce grid-multi-scroll attractors. Moreover, the introduction of a CS and an SVS can significantly disrupt the dynamic behavior of the HNN. Consequently, suitable adjustment methods are crucial for enhancing the network's dynamics, whereas inappropriate applications can lead to the loss of its chaotic characteristics. To empirically validate these enhancement effects, the study employs an FPGA hardware platform. Subsequently, an image encryption scheme is designed to demonstrate the practical application benefits of the dynamically adjusted HNN in secure multimedia communication. This exploration into the dynamic modulation of HNN via time-variant stimuli offers insightful contributions to the advancement of secure communication technologies., Comment: 14 pages, 21 figures

Overparametrization often helps improve the generalization performance. This paper presents a dual view of overparametrization suggesting that downsampling may also help generalize. Focusing on the proportional regime $m\asymp n \asymp p$, where $m$ represents the sketching size, $n$ is the sample size, and $p$ is the feature dimensionality, we investigate two out-of-sample prediction risks of the sketched ridgeless least square estimator. Our findings challenge conventional beliefs by showing that downsampling does not always harm generalization but can actually improve it in certain cases. We identify the optimal sketching size that minimizes out-of-sample prediction risks and demonstrate that the optimally sketched estimator exhibits stabler risk curves, eliminating the peaks of those for the full-sample estimator. To facilitate practical implementation, we propose an empirical procedure to determine the optimal sketching size. Finally, we extend our analysis to cover central limit theorems and misspecified models. Numerical studies strongly support our theory., Comment: Add more numerical experiments and some discussions, relax the Gaussian assumption of coefficient vector to moment conditions

Binary code similarity detection is a fundamental technique for many security applications such as vulnerability search, patch analysis, and malware detection. There is an increasing need to detect similar code for vulnerability search across architectures with the increase of critical vulnerabilities in IoT devices. The variety of IoT hardware architectures and software platforms requires to capture semantic equivalence of code fragments in the similarity detection. However, existing approaches are insufficient in capturing the semantic similarity. We notice that the abstract syntax tree (AST) of a function contains rich semantic information. Inspired by successful applications of natural language processing technologies in sentence semantic understanding, we propose a deep learning-based AST-encoding method, named ASTERIA, to measure the semantic equivalence of functions in different platforms. Our method leverages the Tree-LSTM network to learn the semantic representation of a function from its AST. Then the similarity detection can be conducted efficiently and accurately by measuring the similarity between two representation vectors. We have implemented an open-source prototype of ASTERIA. The Tree-LSTM model is trained on a dataset with 1,022,616 function pairs and evaluated on a dataset with 95,078 function pairs. Evaluation results show that our method outperforms the AST-based tool Diaphora and the-state-of-art method Gemini by large margins with respect to the binary similarity detection. And our method is several orders of magnitude faster than Diaphora and Gemini for the similarity calculation. In the application of vulnerability search, our tool successfully identified 75 vulnerable functions in 5,979 IoT firmware images.

Consider the $p\times p$ matrix that is the product of a population covariance matrix and the inverse of another population covariance matrix. Suppose that their difference has a divergent rank with respect to $p$, when two samples of sizes $n$ and $T$ from the two populations are available, we construct its corresponding sample version. In the regime of high dimension where both $n$ and $T$ are proportional to $p$, we investigate the limiting laws for extreme (spiked) eigenvalues of the sample (spiked) Fisher matrix when the number of spikes is divergent and these spikes are unbounded.

Motivated by dimension reduction in regression analysis and signal detection, we investigate the order determination for large dimension matrices including spiked models of which the numbers of covariates are proportional to the sample sizes for different models. Because the asymptotic behaviour of the estimated eigenvalues of the corresponding matrices differ completely from those in fixed dimension scenarios, we then discuss the largest possible number we can identify and introduce a "valley-cliff" criterion. We propose two versions of the criterion: one based on the original differences of eigenvalues and the other based on the transformed differences, which reduces the effects of ridge selection in the former one. This generic method is very easy to implement and computationally inexpensive, and it can be applied to various matrices. As examples, we focus on spiked population models, spiked Fisher matrices and factor models with auto-covariance matrices. Numerical studies are conducted to examine the method's finite sample performances and to compare it with existing methods., Comment: 42 pages, 4 figures