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IoT systems are becoming an essential part of our environment. Smart cities, smart manufacturing, augmented reality, and self-driving cars are just some examples of the wide range of domains, where the applicability of such systems has been increasing rapidly. These IoT use cases often require simultaneous access to geographically distributed arrays of sensors, and heterogeneous remote, local as well as multi-cloud computational resources. This gives birth to the extended Cloud-to-Things computing paradigm. The emergence of this new paradigm raised the quintessential need to extend the orchestration requirements i.e., the automated deployment and run-time management) of applications from the centralised cloud-only environment to the entire spectrum of resources in the Cloud-to-Things continuum. In order to cope with this requirement, in the last few years, there has been a lot of attention to the development of orchestration systems in both industry and academic environments. This paper is an attempt to gather the research conducted in the orchestration for the Cloud-to-Things continuum landscape and to propose a detailed taxonomy, which is then used to critically review the landscape of existing research work. We finally discuss the key challenges that require further attention and also present a conceptual framework based on the conducted analysis.

Robots must make and break contact to interact with the world and perform useful tasks. However, planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a surprisingly simple method: inverse dynamics trajectory optimization. While trajectory optimization with inverse dynamics is not new, we introduce a series of incremental innovations that collectively enable fast model predictive control on a variety of challenging manipulation and locomotion tasks. We implement these innovations in an open-source solver, and present a variety of simulation examples to support the effectiveness of the proposed approach. Additionally, we demonstrate contact-implicit model predictive control on hardware at over 100 Hz for a 20 degree-of-freedom bi-manual manipulation task.

Defending community-owned cyber space requires community-based efforts. Large-scale network observations that uphold the highest regard for privacy are key to protecting our shared cyberspace. Deployment of the necessary network sensors requires careful sensor placement, focusing, and calibration with significant volumes of network observations. This paper demonstrates novel focusing and calibration procedures on a multi-billion packet dataset using high-performance GraphBLAS anonymized hypersparse matrices. The run-time performance on a real-world data set confirms previously observed real-time processing rates for high-bandwidth links while achieving significant data compression. The output of the analysis demonstrates the effectiveness of these procedures at focusing the traffic matrix and revealing the underlying stable heavy-tail statistical distributions that are necessary for anomaly detection. A simple model of the corresponding probability of detection ($p_{\rm d}$) and probability of false alarm ($p_{\rm fa}$) for these distributions highlights the criticality of network sensor focusing and calibration. Once a sensor is properly focused and calibrated it is then in a position to carry out two of the central tenets of good cybersecurity: (1) continuous observation of the network and (2) minimizing unbrokered network connections.

Neural implicit representation is a promising approach for reconstructing surfaces from point clouds. Existing methods combine various regularization terms, such as the Eikonal and Laplacian energy terms, to enforce the learned neural function to possess the properties of a Signed Distance Function (SDF). However, inferring the actual topology and geometry of the underlying surface from poor-quality unoriented point clouds remains challenging. In accordance with Differential Geometry, the Hessian of the SDF is singular for points within the differential thin-shell space surrounding the surface. Our approach enforces the Hessian of the neural implicit function to have a zero determinant for points near the surface. This technique aligns the gradients for a near-surface point and its on-surface projection point, producing a rough but faithful shape within just a few iterations. By annealing the weight of the singular-Hessian term, our approach ultimately produces a high-fidelity reconstruction result. Extensive experimental results demonstrate that our approach effectively suppresses ghost geometry and recovers details from unoriented point clouds with better expressiveness than existing fitting-based methods.

This study compares the safety of autonomous- and human drivers. It finds that the Waymo One autonomous service is significantly safer towards other road users than human drivers are, as measured via collision causation. The result is determined by comparing Waymo's third party liability insurance claims data with mileage- and zip-code-calibrated Swiss Re (human driver) private passenger vehicle baselines. A liability claim is a request for compensation when someone is responsible for damage to property or injury to another person, typically following a collision. Liability claims reporting and their development is designed using insurance industry best practices to assess crash causation contribution and predict future crash contributions. In over 3.8 million miles driven without a human being behind the steering wheel in rider-only (RO) mode, the Waymo Driver incurred zero bodily injury claims in comparison with the human driver baseline of 1.11 claims per million miles (cpmm). The Waymo Driver also significantly reduced property damage claims to 0.78 cpmm in comparison with the human driver baseline of 3.26 cpmm. Similarly, in a more statistically robust dataset of over 35 million miles during autonomous testing operations (TO), the Waymo Driver, together with a human autonomous specialist behind the steering wheel monitoring the automation, also significantly reduced both bodily injury and property damage cpmm compared to the human driver baselines.

The development of machine learning models requires a large amount of training data. Data marketplaces are essential for trading high-quality, private-domain data not publicly available online. However, due to growing data privacy concerns, direct data exchange is inappropriate. Federated Learning (FL) is a distributed machine learning paradigm that exchanges data utilities (in form of local models or gradients) among multiple parties without directly sharing the raw data. However, several challenges exist when applying existing FL architectures to construct a data marketplace: (i) In existing FL architectures, Data Acquirers (DAs) cannot privately evaluate local models from Data Providers (DPs) prior to trading; (ii) Model aggregation protocols in existing FL designs struggle to exclude malicious DPs without "overfitting" to the DA's (possibly biased) root dataset; (iii) Prior FL designs lack a proper billing mechanism to enforce the DA to fairly allocate the reward according to contributions made by different DPs. To address above challenges, we propose martFL, the first federated learning architecture that is specifically designed to enable a secure utility-driven data marketplace. At a high level, martFL is powered by two innovative designs: (i) a quality-aware model aggregation protocol that achieves robust local model aggregation even when the DA's root dataset is biased; (ii) a verifiable data transaction protocol that enables the DA to prove, both succinctly and in zero-knowledge, that it has faithfully aggregates the local models submitted by different DPs according to the committed aggregation weights, based on which the DPs can unambiguously claim the corresponding reward. We implement a prototype of martFL and evaluate it extensively over various tasks. The results show that martFL can improve the model accuracy by up to 25% while saving up to 64% data acquisition cost.

Digital financial services have catalyzed financial inclusion in Africa. Commonly implemented as a mobile wallet service referred to as mobile money (MoMo), the technology provides enormous benefits to its users, some of whom have long been unbanked. While the benefits of mobile money services have largely been documented, the challenges that arise -- especially in the interactions between human stakeholders -- remain relatively unexplored. In this study, we investigate the practices of mobile money users in their interactions with mobile money agents. We conduct 72 structured interviews in Kenya and Tanzania (n=36 per country). The results show that users and agents design workarounds in response to limitations and challenges that users face within the ecosystem. These include advances or loans from agents, relying on the user-agent relationships in place of legal identification requirements, and altering the intended transaction execution to improve convenience. Overall, the workarounds modify one or more of what we see as the core components of mobile money: the user, the agent, and the transaction itself. The workarounds pose new risks and challenges for users and the overall ecosystem. The results suggest a need for rethinking privacy and security of various components of the ecosystem, as well as policy and regulatory controls to safeguard interactions while ensuring the usability of mobile money.

Speech emotion recognition is an important component of any human centered system. But speech characteristics produced and perceived by a person can be influenced by a multitude of reasons, both desirable such as emotion, and undesirable such as noise. To train robust emotion recognition models, we need a large, yet realistic data distribution, but emotion datasets are often small and hence are augmented with noise. Often noise augmentation makes one important assumption, that the prediction label should remain the same in presence or absence of noise, which is true for automatic speech recognition but not necessarily true for perception based tasks. In this paper we make three novel contributions. We validate through crowdsourcing that the presence of noise does change the annotation label and hence may alter the original ground truth label. We then show how disregarding this knowledge and assuming consistency in ground truth labels propagates to downstream evaluation of ML models, both for performance evaluation and robustness testing. We end the paper with a set of recommendations for noise augmentations in speech emotion recognition datasets.

Connected automated vehicles have shown great potential to improve the efficiency of transportation systems in terms of passenger comfort, fuel economy, stability of driving behavior and mitigation of traffic congestions. Yet, to deploy these vehicles and leverage their benefits, the underlying algorithms must ensure their safe operation. In this paper, we address the safety of connected cruise control strategies for longitudinal car following using control barrier function (CBF) theory. In particular, we consider various safety measures such as minimum distance, time headway and time to conflict, and provide a formal analysis of these measures through the lens of CBFs. Additionally, motivated by how stability charts facilitate stable controller design, we derive safety charts for existing connected cruise controllers to identify safe choices of controller parameters. Finally, we combine the analysis of safety measures and the corresponding stability charts to synthesize safety-critical connected cruise controllers using CBFs. We verify our theoretical results by numerical simulations.

User engagement is a critical metric for evaluating the quality of open-domain dialogue systems. Prior work has focused on conversation-level engagement by using heuristically constructed features such as the number of turns and the total time of the conversation. In this paper, we investigate the possibility and efficacy of estimating utterance-level engagement and define a novel metric, {\em predictive engagement}, for automatic evaluation of open-domain dialogue systems. Our experiments demonstrate that (1) human annotators have high agreement on assessing utterance-level engagement scores; (2) conversation-level engagement scores can be predicted from properly aggregated utterance-level engagement scores. Furthermore, we show that the utterance-level engagement scores can be learned from data. These scores can improve automatic evaluation metrics for open-domain dialogue systems, as shown by correlation with human judgements. This suggests that predictive engagement can be used as a real-time feedback for training better dialogue models.