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Accurate perception of unknown objects is essential for autonomous robots, particularly when manipulating novel items in unstructured environments. However, existing unknown object instance segmentation (UOIS) methods often have over-segmentation and under-segmentation problems, resulting in inaccurate instance boundaries and failures in subsequent robotic tasks such as grasping and placement. To address this challenge, this article introduces INSTA-BEER, a fast and accurate model-agnostic refinement method that enhances the UOIS performance. The model adopts an error-informed refinement approach, which first predicts pixel-wise errors in the initial segmentation and then refines the segmentation guided by these error estimates. We introduce the quad-metric boundary error, which quantifies pixel-wise true positives, true negatives, false positives, and false negatives at the boundaries of object instances, effectively capturing both fine-grained and instance-level segmentation errors. Additionally, the Error Guidance Fusion (EGF) module explicitly integrates error information into the refinement process, further improving segmentation quality. In comprehensive evaluations conducted on three widely used benchmark datasets, INSTA-BEER outperformed state-of-the-art models in both accuracy and inference time. Moreover, a real-world robotic experiment demonstrated the practical applicability of our method in improving the performance of target object grasping tasks in cluttered environments.

Recently, simultaneously transmitting and reflecting reconfigurable intelligent surfaces (STAR-RISs) have emerged as a novel technology that provides 360 coverage and new degrees-of-freedom (DoFs). They are also capable of manipulating signal propagation and simultaneous wireless information and power transfer (SWIPT). This paper introduces a novel STAR-RIS-aided secure SWIPT system for downlink multiple input single output rate-splitting multiple access (RSMA) networks. The transmitter concurrently communicates with the information receivers (IRs) and sends energy to untrusted energy receivers (UERs). The UERs are also capable of wiretapping the IR streams. We assume that the channel state information (CSI) of the IRs is known at the information transmitter, but only imperfect CSI for the UERs is available at the energy transmitter. By exploiting RSMA, the base station splits the messages of the IRs into common and private parts. The former is encoded into a common stream that can be decoded by all IRs, while the private messages are individually decoded by their respective IRs. We find the precoders and STAR-RIS configuration that maximizes the achievable worst-case sum secrecy rate of the IRs under a total transmit power constraint, a sum energy constraint for the UERs, and subject to constraints on the transmission and reflection coefficients. The formulated problem is non-convex and has intricately coupled variables. To tackle this challenge, a suboptimal two-step iterative algorithm based on the sequential parametric convex approximation method is proposed. Simulations demonstrate that the RSMA-based algorithm implemented with a STAR-RIS enhances both the rate of confidential information transmission and the total spectral efficiency. Furthermore, our method surpasses the performance of both orthogonal multiple access (OMA) and non-OMA (NOMA).

Intelligent reflecting surfaces (IRSs) are a promising low-cost solution for achieving high spectral and energy efficiency in future communication systems by enabling the customization of wireless propagation environments. Despite the plethora of research on resource allocation design for IRS-assisted multiuser wireless communication systems, the optimal design and the corresponding performance upper bound are still not fully understood. To bridge this gap in knowledge, in this paper, we investigate the optimal resource allocation design for IRS-assisted multiuser multiple-input single-output systems employing practical discrete IRS phase shifters. In particular, we jointly optimize the beamforming vector at the base station and the discrete IRS phase shifts to minimize the total transmit power for the cases of perfect and imperfect channel state information (CSI) knowledge. To this end, two novel algorithms based on the generalized Benders decomposition (GBD) method are developed to obtain the globally optimal solution for perfect and imperfect CSI, respectively. Moreover, to facilitate practical implementation, we propose two corresponding low-complexity suboptimal algorithms with guaranteed convergence by capitalizing on successive convex approximation (SCA). In particular, for imperfect CSI, we adopt a bounded error model to characterize the CSI uncertainty and propose a new transformation to convexify the robust quality-of-service constraints. Our numerical results confirm the optimality of the proposed GBD-based algorithms for the considered system for both perfect and imperfect CSI. Furthermore, we unveil that both proposed SCA-based algorithms can attain a locally optimal solution within a few iterations. Moreover, compared with the state-of-the-art solution based on alternating optimization, the proposed low-complexity SCA-based schemes achieve a significant performance gain.

Offline licensing is a technical mechanism for compute governance that could be used to prevent unregulated training of potentially dangerous frontier AI models. The mechanism works by disabling AI chips unless they have an up-to-date license from a regulator. In this report, we present a technical design for a minimal version of offline licensing that could be delivered via a firmware update. Existing AI chips could potentially support offline licensing within a year if they have the following (relatively common) hardware security features: firmware verification, firmware rollback protection, and secure non-volatile memory. Public documentation suggests that NVIDIA's H100 AI chip already has these security features. Without additional hardware modifications, the system is susceptible to physical hardware attacks. However, these attacks might require expensive equipment and could be difficult to reliably apply to thousands of AI chips. A firmware-based offline licensing design shares the same legal requirements and license approval mechanism as a hardware-based solution. Implementing a firmware-based solution now could accelerate the eventual deployment of a more secure hardware-based solution in the future. For AI chip manufacturers, implementing this security mechanism might allow chips to be sold to customers that would otherwise be prohibited by export restrictions. For governments, it may be important to be able to prevent unsafe or malicious actors from training frontier AI models in the next few years. Based on this initial analysis, firmware-based offline licensing could partially solve urgent security and trade problems and is technically feasible for AI chips that have common hardware security features.

Artificial intelligence (AI) and Machine learning (ML) are increasingly used in energy and engineering systems, but these models must be fair, unbiased, and explainable. It is critical to have confidence in AI's trustworthiness. ML techniques have been useful in predicting important parameters and in improving model performance. However, for these AI techniques to be useful for making decisions, they need to be audited, accounted for, and easy to understand. Therefore, the use of explainable AI (XAI) and interpretable machine learning (IML) is crucial for the accurate prediction of prognostics, such as remaining useful life (RUL), in a digital twin system, to make it intelligent while ensuring that the AI model is transparent in its decision-making processes and that the predictions it generates can be understood and trusted by users. By using AI that is explainable, interpretable, and trustworthy, intelligent digital twin systems can make more accurate predictions of RUL, leading to better maintenance and repair planning, and ultimately, improved system performance. The objective of this paper is to explain the ideas of XAI and IML and to justify the important role of AI/ML in the digital twin framework and components, which requires XAI to understand the prediction better. This paper explains the importance of XAI and IML in both local and global aspects to ensure the use of trustworthy AI/ML applications for RUL prediction. We used the RUL prediction for the XAI and IML studies and leveraged the integrated Python toolbox for interpretable machine learning~(PiML).

Decentralized machine learning (DL) has been receiving an increasing interest recently due to the elimination of a single point of failure, present in Federated learning setting. Yet, it is threatened by the looming threat of Byzantine clients who intentionally disrupt the learning process by broadcasting arbitrary model updates to other clients, seeking to degrade the performance of the global model. In response, robust aggregation schemes have emerged as promising solutions to defend against such Byzantine clients, thereby enhancing the robustness of Decentralized Learning. Defenses against Byzantine adversaries, however, typically require access to the updates of other clients, a counterproductive privacy trade-off that in turn increases the risk of inference attacks on those same model updates. In this paper, we introduce SecureDL, a novel DL protocol designed to enhance the security and privacy of DL against Byzantine threats. SecureDL~facilitates a collaborative defense, while protecting the privacy of clients' model updates through secure multiparty computation. The protocol employs efficient computation of cosine similarity and normalization of updates to robustly detect and exclude model updates detrimental to model convergence. By using MNIST, Fashion-MNIST, SVHN and CIFAR-10 datasets, we evaluated SecureDL against various Byzantine attacks and compared its effectiveness with four existing defense mechanisms. Our experiments show that SecureDL is effective even in the case of attacks by the malicious majority (e.g., 80% Byzantine clients) while preserving high training accuracy.

Recently, tensor low-rank representation (TLRR) has become a popular tool for tensor data recovery and clustering, due to its empirical success and theoretical guarantees. However, existing TLRR methods consider Gaussian or gross sparse noise, inevitably leading to performance degradation when the tensor data are contaminated by outliers or sample-specific corruptions. This paper develops an outlier-robust tensor low-rank representation (OR-TLRR) method that provides outlier detection and tensor data clustering simultaneously based on the t-SVD framework. For tensor observations with arbitrary outlier corruptions, OR-TLRR has provable performance guarantee for exactly recovering the row space of clean data and detecting outliers under mild conditions. Moreover, an extension of OR-TLRR is proposed to handle the case when parts of the data are missing. Finally, extensive experimental results on synthetic and real data demonstrate the effectiveness of the proposed algorithms. We release our code at //github.com/twugithub/2024-AISTATS-ORTLRR.

Spectral clustering (SC) is a popular clustering technique to find strongly connected communities on a graph. SC can be used in Graph Neural Networks (GNNs) to implement pooling operations that aggregate nodes belonging to the same cluster. However, the eigendecomposition of the Laplacian is expensive and, since clustering results are graph-specific, pooling methods based on SC must perform a new optimization for each new sample. In this paper, we propose a graph clustering approach that addresses these limitations of SC. We formulate a continuous relaxation of the normalized minCUT problem and train a GNN to compute cluster assignments that minimize this objective. Our GNN-based implementation is differentiable, does not require to compute the spectral decomposition, and learns a clustering function that can be quickly evaluated on out-of-sample graphs. From the proposed clustering method, we design a graph pooling operator that overcomes some important limitations of state-of-the-art graph pooling techniques and achieves the best performance in several supervised and unsupervised tasks.

Translational distance-based knowledge graph embedding has shown progressive improvements on the link prediction task, from TransE to the latest state-of-the-art RotatE. However, N-1, 1-N and N-N predictions still remain challenging. In this work, we propose a novel translational distance-based approach for knowledge graph link prediction. The proposed method includes two-folds, first we extend the RotatE from 2D complex domain to high dimension space with orthogonal transforms to model relations for better modeling capacity. Second, the graph context is explicitly modeled via two directed context representations. These context representations are used as part of the distance scoring function to measure the plausibility of the triples during training and inference. The proposed approach effectively improves prediction accuracy on the difficult N-1, 1-N and N-N cases for knowledge graph link prediction task. The experimental results show that it achieves better performance on two benchmark data sets compared to the baseline RotatE, especially on data set (FB15k-237) with many high in-degree connection nodes.

Recommender System (RS) is a hot area where artificial intelligence (AI) techniques can be effectively applied to improve performance. Since the well-known Netflix Challenge, collaborative filtering (CF) has become the most popular and effective recommendation method. Despite their success in CF, various AI techniques still have to face the data sparsity and cold start problems. Previous works tried to solve these two problems by utilizing auxiliary information, such as social connections among users and meta-data of items. However, they process different types of information separately, leading to information loss. In this work, we propose to utilize Heterogeneous Information Network (HIN), which is a natural and general representation of different types of data, to enhance CF-based recommending methods. HIN-based recommender systems face two problems: how to represent high-level semantics for recommendation and how to fuse the heterogeneous information to recommend. To address these problems, we propose to applying meta-graph to HIN-based RS and solve the information fusion problem with a "matrix factorization (MF) + factorization machine (FM)" framework. For the "MF" part, we obtain user-item similarity matrices from each meta-graph and adopt low-rank matrix approximation to get latent features for both users and items. For the "FM" part, we propose to apply FM with Group lasso (FMG) on the obtained features to simultaneously predict missing ratings and select useful meta-graphs. Experimental results on two large real-world datasets, i.e., Amazon and Yelp, show that our proposed approach is better than that of the state-of-the-art FM and other HIN-based recommending methods.