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In this paper, we focus on the problem of shrinking-horizon Model Predictive Control (MPC) in uncertain dynamic environments. We consider controlling a deterministic autonomous system that interacts with uncontrollable stochastic agents during its mission. Employing tools from conformal prediction, existing works derive high-confidence prediction regions for the unknown agent trajectories, and integrate these regions in the design of suitable safety constraints for MPC. Despite guaranteeing probabilistic safety of the closed-loop trajectories, these constraints do not ensure feasibility of the respective MPC schemes for the entire duration of the mission. We propose a shrinking-horizon MPC that guarantees recursive feasibility via a gradual relaxation of the safety constraints as new prediction regions become available online. This relaxation enforces the safety constraints to hold over the least restrictive prediction region from the set of all available prediction regions. In a comparative case study with the state of the art, we empirically show that our approach results in tighter prediction regions and verify recursive feasibility of our MPC scheme.

In this paper, we dive into the reliability concerns of Integrated Gradients (IG), a prevalent feature attribution method for black-box deep learning models. We particularly address two predominant challenges associated with IG: the generation of noisy feature visualizations for vision models and the vulnerability to adversarial attributional attacks. Our approach involves an adaptation of path-based feature attribution, aligning the path of attribution more closely to the intrinsic geometry of the data manifold. Our experiments utilise deep generative models applied to several real-world image datasets. They demonstrate that IG along the geodesics conforms to the curved geometry of the Riemannian data manifold, generating more perceptually intuitive explanations and, subsequently, substantially increasing robustness to targeted attributional attacks.

In this paper, we present a comprehensive evaluation to establish a robust and efficient framework for Lagrangian-based particle tracing using deep neural networks (DNNs). Han et al. (2021) first proposed a DNN-based approach to learn Lagrangian representations and demonstrated accurate particle tracing for an analytic 2D flow field. In this paper, we extend and build upon this prior work in significant ways. First, we evaluate the performance of DNN models to accurately trace particles in various settings, including 2D and 3D time-varying flow fields, flow fields from multiple applications, flow fields with varying complexity, as well as structured and unstructured input data. Second, we conduct an empirical study to inform best practices with respect to particle tracing model architectures, activation functions, and training data structures. Third, we conduct a comparative evaluation of prior techniques that employ flow maps as input for exploratory flow visualization. Specifically, we compare our extended model against its predecessor by Han et al. (2021), as well as the conventional approach that uses triangulation and Barycentric coordinate interpolation. Finally, we consider the integration and adaptation of our particle tracing model with different viewers. We provide an interactive web-based visualization interface by leveraging the efficiencies of our framework, and perform high-fidelity interactive visualization by integrating it with an OSPRay-based viewer. Overall, our experiments demonstrate that using a trained DNN model to predict new particle trajectories requires a low memory footprint and results in rapid inference. Following best practices for large 3D datasets, our deep learning approach using GPUs for inference is shown to require approximately 46 times less memory while being more than 400 times faster than the conventional methods.

This paper proposes a novel Self-Supervised Intrusion Detection (SSID) framework, which enables a fully online Deep Learning (DL) based Intrusion Detection System (IDS) that requires no human intervention or prior off-line learning. The proposed framework analyzes and labels incoming traffic packets based only on the decisions of the IDS itself using an Auto-Associative Deep Random Neural Network, and on an online estimate of its statistically measured trustworthiness. The SSID framework enables IDS to adapt rapidly to time-varying characteristics of the network traffic, and eliminates the need for offline data collection. This approach avoids human errors in data labeling, and human labor and computational costs of model training and data collection. The approach is experimentally evaluated on public datasets and compared with well-known {machine learning and deep learning} models, showing that this SSID framework is very useful and advantageous as an accurate and online learning DL-based IDS for IoT systems.

In this paper, we introduce a primal-dual algorithmic framework for solving Symmetric Cone Programs (SCPs), a versatile optimization model that unifies and extends Linear, Second-Order Cone (SOCP), and Semidefinite Programming (SDP). Our work generalizes the primal-dual framework for SDPs introduced by Arora and Kale, leveraging a recent extension of the Multiplicative Weights Update method (MWU) to symmetric cones. Going beyond existing works, our framework can handle SOCPs and mixed SCPs, exhibits nearly linear time complexity, and can be effectively parallelized. To illustrate the efficacy of our framework, we employ it to develop approximation algorithms for two geometric optimization problems: the Smallest Enclosing Sphere problem and the Support Vector Machine problem. Our theoretical analyses demonstrate that the two algorithms compute approximate solutions in nearly linear running time and with parallel depth scaling polylogarithmically with the input size. We compare our algorithms against CGAL as well as interior point solvers applied to these problems. Experiments show that our algorithms are highly efficient when implemented on a CPU and achieve substantial speedups when parallelized on a GPU, allowing us to solve large-scale instances of these problems.

In this paper, we propose a hybrid precoding/combining framework for communication-centric integrated sensing and full-duplex (FD) communication operating at mmWave bands. The designed precoders and combiners enable multiuser (MU) FD communication while simultaneously supporting monostatic sensing in a frequency-selective setting. The joint design of precoders and combiners involves the mitigation of self-interference (SI) caused by simultaneous transmission and reception at the FD base station (BS). Additionally, MU interference needs to be handled by the precoder/combiner design. The resulting optimization problem involves non-convex constraints since hybrid analog/digital architectures utilize networks of phase shifters. To solve the proposed problem, we separate the optimization of each precoder/combiner, and design each one of them while fixing the others. The precoders at the FD BS are designed by reformulating the communication and sensing constraints as signal-to-leakage-plus-noise ratio (SLNR) maximization problems that consider SI and MU interference as leakage. Furthermore, we design the frequency-flat analog combiner such that the residual SI at the FD BS is minimized under communication and sensing gain constraints. Finally, we design an interference-aware digital combining stage that separates MU signals and target reflections. The communication performance and sensing results show that the proposed framework efficiently supports both functionalities simultaneously.

In this paper, we address the challenge of multi-object tracking (MOT) in moving Unmanned Aerial Vehicle (UAV) scenarios, where irregular flight trajectories, such as hovering, turning left/right, and moving up/down, lead to significantly greater complexity compared to fixed-camera MOT. Specifically, changes in the scene background not only render traditional frame-to-frame object IOU association methods ineffective but also introduce significant view shifts in the objects, which complicates tracking. To overcome these issues, we propose a novel universal HomView-MOT framework, which for the first time, harnesses the view Homography inherent in changing scenes to solve MOT challenges in moving environments, incorporating Homographic Matching and View-Centric concepts. We introduce a Fast Homography Estimation (FHE) algorithm for rapid computation of Homography matrices between video frames, enabling object View-Centric ID Learning (VCIL) and leveraging multi-view Homography to learn cross-view ID features. Concurrently, our Homographic Matching Filter (HMF) maps object bounding boxes from different frames onto a common view plane for a more realistic physical IOU association. Extensive experiments have proven that these innovations allow HomView-MOT to achieve state-of-the-art performance on prominent UAV MOT datasets VisDrone and UAVDT.

This paper presents a novel approach to network management by integrating intent-based networking (IBN) with knowledge graphs (KGs), creating a more intuitive and efficient pipeline for service orchestration. By mapping high-level business intents onto network configurations using KGs, the system dynamically adapts to network changes and service demands, ensuring optimal performance and resource allocation. We utilize knowledge graph embedding (KGE) to acquire context information from the network and service providers. The KGE model is trained using a custom KG and Gaussian embedding model and maps intents to services via service prediction and intent validation processes. The proposed intent lifecycle enables intent translation and assurance by only deploying validated intents according to network and resource availability. We evaluate the trained model for its efficiency in service mapping and intent validation tasks using simulated environments and extensive experiments. The service prediction and intent verification accuracy greater than 80 percent is achieved for the trained KGE model on a custom service orchestration intent knowledge graph (IKG) based on TMForum's intent common model.

In this paper, we investigate the performance of large-scale heterogeneous low Earth orbit (LEO) satellite networks in the context of three association schemes. In contrast to existing studies, where single-tier LEO satellite-based network deployments are considered, the developed framework captures the heterogeneous nature of real-world satellite network deployments. More specifically, we propose an analytical framework to evaluate the performance of multi-tier LEO satellite-based networks, where the locations of LEO satellites are approximated as points of independent Poisson point processes, with different density, transmit power, and altitude. We propose three association schemes for the considered network topology based on: 1) the Euclidean distance, 2) the average received power, and 3) a random selection. By using stochastic geometry tools, analytical expressions for the association probability, the downlink coverage probability, as well as the spectral efficiency are derived for each association scheme, where the interference is considered. Moreover, we assess the achieved network performance under several different fading environments, including low, typical, and severe fading conditions, namely non-fading, shadowed-Rician and Rayleigh fading channels, respectively. Our results reveal the impact of fading channels on the coverage probability, and illustrate that the average power-based association scheme outperforms in terms of achieved coverage and spectral efficiency performance against the other two association policies. Furthermore, we highlight the impact of the proposed association schemes and the network topology on the optimal number of LEO satellites, providing guidance for the planning of multi-tier LEO satellite-based networks in order to enhance network performance.

In this paper, we proposed to apply meta learning approach for low-resource automatic speech recognition (ASR). We formulated ASR for different languages as different tasks, and meta-learned the initialization parameters from many pretraining languages to achieve fast adaptation on unseen target language, via recently proposed model-agnostic meta learning algorithm (MAML). We evaluated the proposed approach using six languages as pretraining tasks and four languages as target tasks. Preliminary results showed that the proposed method, MetaASR, significantly outperforms the state-of-the-art multitask pretraining approach on all target languages with different combinations of pretraining languages. In addition, since MAML's model-agnostic property, this paper also opens new research direction of applying meta learning to more speech-related applications.