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Accurate navigation is essential for autonomous robots and vehicles. In recent years, the integration of the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), and camera has garnered considerable attention due to its robustness and high accuracy in diverse environments. In such systems, fully utilizing the role of GNSS is cumbersome because of the diverse choices of formulations, error models, satellite constellations, signal frequencies, and service types, which lead to different precision, robustness, and usage dependencies. To clarify the capacity of GNSS algorithms and accelerate the development efficiency of employing GNSS in multi-sensor fusion algorithms, we open source the GNSS/INS/Camera Integration Library (GICI-LIB), together with detailed documentation and a comprehensive land vehicle dataset. A factor graph optimization-based multi-sensor fusion framework is established, which combines almost all GNSS measurement error sources by fully considering temporal and spatial correlations between measurements. The graph structure is designed for flexibility, making it easy to form any kind of integration algorithm. For illustration, four Real-Time Kinematic (RTK)-based algorithms from GICI-LIB are evaluated using our dataset. Results confirm the potential of the GICI system to provide continuous precise navigation solutions in a wide spectrum of urban environments.

Federated Learning (FL) enables multiple clients to collaboratively learn a machine learning model without exchanging their own local data. In this way, the server can exploit the computational power of all clients and train the model on a larger set of data samples among all clients. Although such a mechanism is proven to be effective in various fields, existing works generally assume that each client preserves sufficient data for training. In practice, however, certain clients may only contain a limited number of samples (i.e., few-shot samples). For example, the available photo data taken by a specific user with a new mobile device is relatively rare. In this scenario, existing FL efforts typically encounter a significant performance drop on these clients. Therefore, it is urgent to develop a few-shot model that can generalize to clients with limited data under the FL scenario. In this paper, we refer to this novel problem as federated few-shot learning. Nevertheless, the problem remains challenging due to two major reasons: the global data variance among clients (i.e., the difference in data distributions among clients) and the local data insufficiency in each client (i.e., the lack of adequate local data for training). To overcome these two challenges, we propose a novel federated few-shot learning framework with two separately updated models and dedicated training strategies to reduce the adverse impact of global data variance and local data insufficiency. Extensive experiments on four prevalent datasets that cover news articles and images validate the effectiveness of our framework compared with the state-of-the-art baselines. Our code is provided at //github.com/SongW-SW/F2L.

We present the problem of inverse constraint learning (ICL), which recovers constraints from demonstrations to autonomously reproduce constrained skills in new scenarios. However, ICL suffers from an ill-posed nature, leading to inaccurate inference of constraints from demonstrations. To figure it out, we introduce a transferable constraint learning (TCL) algorithm that jointly infers a task-oriented reward and a task-agnostic constraint, enabling the generalization of learned skills. Our method TCL additively decomposes the overall reward into a task reward and its residual as soft constraints, maximizing policy divergence between task- and constraint-oriented policies to obtain a transferable constraint. Evaluating our method and four baselines in three simulated environments, we show TCL outperforms state-of-the-art IRL and ICL algorithms, achieving up to a $72\%$ higher task-success rates with accurate decomposition compared to the next best approach in novel scenarios. Further, we demonstrate the robustness of TCL on a real-world robotic tray-carrying task.

With the proliferation of distributed edge computing resources, the 6G mobile network will evolve into a network for connected intelligence. Along this line, the proposal to incorporate federated learning into the mobile edge has gained considerable interest in recent years. However, the deployment of federated learning faces substantial challenges as massive resource-limited IoT devices can hardly support on-device model training. This leads to the emergence of split learning (SL) which enables servers to handle the major training workload while still enhancing data privacy. In this article, we offer a brief overview of key advancements in SL and articulate its seamless integration with wireless edge networks. We begin by illustrating the tailored 6G architecture to support edge SL. Then, we examine the critical design issues for edge SL, including innovative resource-efficient learning frameworks and resource management strategies under a single edge server. Additionally, we expand the scope to multi-edge scenarios, exploring multi-edge collaboration and mobility management from a networking perspective. Finally, we discuss open problems for edge SL, including convergence analysis, asynchronous SL and U-shaped SL.

Algorithms for autonomous navigation in environments without Global Navigation Satellite System (GNSS) coverage mainly rely on onboard perception systems. These systems commonly incorporate sensors like cameras and Light Detection and Rangings (LiDARs), the performance of which may degrade in the presence of aerosol particles. Thus, there is a need of fusing acquired data from these sensors with data from Radio Detection and Rangings (RADARs) which can penetrate through such particles. Overall, this will improve the performance of localization and collision avoidance algorithms under such environmental conditions. This paper introduces a multimodal dataset from the harsh and unstructured underground environment with aerosol particles. A detailed description of the onboard sensors and the environment, where the dataset is collected are presented to enable full evaluation of acquired data. Furthermore, the dataset contains synchronized raw data measurements from all onboard sensors in Robot Operating System (ROS) format to facilitate the evaluation of navigation, and localization algorithms in such environments. In contrast to the existing datasets, the focus of this paper is not only to capture both temporal and spatial data diversities but also to present the impact of harsh conditions on captured data. Therefore, to validate the dataset, a preliminary comparison of odometry from onboard LiDARs is presented.

Federated learning (FL) has found numerous applications in healthcare, finance, and IoT scenarios. Many existing FL frameworks offer a range of benchmarks to evaluate the performance of FL under realistic conditions. However, the process of customizing simulations to accommodate application-specific settings, data heterogeneity, and system heterogeneity typically remains unnecessarily complicated. This creates significant hurdles for traditional ML researchers in exploring the usage of FL, while also compromising the shareability of codes across FL frameworks. To address this issue, we propose a novel lightweight FL platform called FLGo, to facilitate cross-application FL studies with a high degree of shareability. Our platform offers 40+ benchmarks, 20+ algorithms, and 2 system simulators as out-of-the-box plugins. We also provide user-friendly APIs for quickly customizing new plugins that can be readily shared and reused for improved reproducibility. Finally, we develop a range of experimental tools, including parallel acceleration, experiment tracker and analyzer, and parameters auto-tuning. FLGo is maintained at \url{flgo-xmu.github.io}.

Automatic speech recognition (ASR) models with low-footprint are increasingly being deployed on edge devices for conversational agents, which enhances privacy. We study the problem of federated continual incremental learning for recurrent neural network-transducer (RNN-T) ASR models in the privacy-enhancing scheme of learning on-device, without access to ground truth human transcripts or machine transcriptions from a stronger ASR model. In particular, we study the performance of a self-learning based scheme, with a paired teacher model updated through an exponential moving average of ASR models. Further, we propose using possibly noisy weak-supervision signals such as feedback scores and natural language understanding semantics determined from user behavior across multiple turns in a session of interactions with the conversational agent. These signals are leveraged in a multi-task policy-gradient training approach to improve the performance of self-learning for ASR. Finally, we show how catastrophic forgetting can be mitigated by combining on-device learning with a memory-replay approach using selected historical datasets. These innovations allow for 10% relative improvement in WER on new use cases with minimal degradation on other test sets in the absence of strong-supervision signals such as ground-truth transcriptions.

The cyber-threat landscape has evolved tremendously in recent years, with new threat variants emerging daily, and large-scale coordinated campaigns becoming more prevalent. In this study, we propose CELEST (CollaborativE LEarning for Scalable Threat detection), a federated machine learning framework for global threat detection over HTTP, which is one of the most commonly used protocols for malware dissemination and communication. CELEST leverages federated learning in order to collaboratively train a global model across multiple clients who keep their data locally, thus providing increased privacy and confidentiality assurances. Through a novel active learning component integrated with the federated learning technique, our system continuously discovers and learns the behavior of new, evolving, and globally-coordinated cyber threats. We show that CELEST is able to expose attacks that are largely invisible to individual organizations. For instance, in one challenging attack scenario with data exfiltration malware, the global model achieves a three-fold increase in Precision-Recall AUC compared to the local model. We deploy CELEST on two university networks and show that it is able to detect the malicious HTTP communication with high precision and low false positive rates. Furthermore, during its deployment, CELEST detected a set of previously unknown 42 malicious URLs and 20 malicious domains in one day, which were confirmed to be malicious by VirusTotal.

Australia is a leading AI nation with strong allies and partnerships. Australia has prioritised robotics, AI, and autonomous systems to develop sovereign capability for the military. Australia commits to Article 36 reviews of all new means and methods of warfare to ensure weapons and weapons systems are operated within acceptable systems of control. Additionally, Australia has undergone significant reviews of the risks of AI to human rights and within intelligence organisations and has committed to producing ethics guidelines and frameworks in Security and Defence. Australia is committed to OECD's values-based principles for the responsible stewardship of trustworthy AI as well as adopting a set of National AI ethics principles. While Australia has not adopted an AI governance framework specifically for Defence; Defence Science has published 'A Method for Ethical AI in Defence' (MEAID) technical report which includes a framework and pragmatic tools for managing ethical and legal risks for military applications of AI.

Federated Learning (FL) is a decentralized machine-learning paradigm, in which a global server iteratively averages the model parameters of local users without accessing their data. User heterogeneity has imposed significant challenges to FL, which can incur drifted global models that are slow to converge. Knowledge Distillation has recently emerged to tackle this issue, by refining the server model using aggregated knowledge from heterogeneous users, other than directly averaging their model parameters. This approach, however, depends on a proxy dataset, making it impractical unless such a prerequisite is satisfied. Moreover, the ensemble knowledge is not fully utilized to guide local model learning, which may in turn affect the quality of the aggregated model. Inspired by the prior art, we propose a data-free knowledge distillation} approach to address heterogeneous FL, where the server learns a lightweight generator to ensemble user information in a data-free manner, which is then broadcasted to users, regulating local training using the learned knowledge as an inductive bias. Empirical studies powered by theoretical implications show that, our approach facilitates FL with better generalization performance using fewer communication rounds, compared with the state-of-the-art.