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Controller Area Network bus systems within vehicular networks are not equipped with the tools necessary to ward off and protect themselves from modern cyber-security threats. Work has been done on using machine learning methods to detect and report these attacks, but common methods are not robust towards unknown attacks. These methods usually rely on there being a sufficient representation of attack data, which may not be available due to there either not being enough data present to adequately represent its distribution or the distribution itself is too diverse in nature for there to be a sufficient representation of it. With the use of one-class classification methods, this issue can be mitigated as only normal data is required to train a model for the detection of anomalous instances. Research has been done on the efficacy of these methods, most notably One-Class Support Vector Machine and Support Vector Data Description, but many new extensions of these works have been proposed and have yet to be tested for injection attacks in vehicular networks. In this paper, we investigate the performance of various state-of-the-art one-class classification methods for detecting injection attacks on Controller Area Network bus traffic. We investigate the effectiveness of these techniques on attacks launched on Controller Area Network buses from two different vehicles during normal operation and while being attacked. We observe that the Subspace Support Vector Data Description method outperformed all other tested methods with a Gmean of about 85%.

Navigating complex and dynamic environments requires autonomous vehicles (AVs) to reason about both visible and occluded regions. This involves predicting the future motion of observed agents, inferring occluded ones, and modeling their interactions based on vectorized scene representations of the partially observable environment. However, prior work on occlusion inference and trajectory prediction have developed in isolation, with the former based on simplified rasterized methods and the latter assuming full environment observability. We introduce the Scene Informer, a unified approach for predicting both observed agent trajectories and inferring occlusions in a partially observable setting. It uses a transformer to aggregate various input modalities and facilitate selective queries on occlusions that might intersect with the AV's planned path. The framework estimates occupancy probabilities and likely trajectories for occlusions, as well as forecast motion for observed agents. We explore common observability assumptions in both domains and their performance impact. Our approach outperforms existing methods in both occupancy prediction and trajectory prediction in partially observable setting on the Waymo Open Motion Dataset.

The development of deep neural networks (DNN) has significantly enhanced the performance of speaker verification (SV) systems in recent years. However, a critical issue that persists when applying DNN-based SV systems in practical applications is domain mismatch. To mitigate the performance degradation caused by the mismatch, domain adaptation becomes necessary. This paper introduces an approach to adapt DNN-based SV models by manipulating the learnable model inputs, inspired by the concept of adversarial reprogramming. The pre-trained SV model remains fixed and functions solely in the forward process, resembling a black-box model. A lightweight network is utilized to estimate the gradients for the learnable parameters at the input, which bypasses the gradient backpropagation through the black-box model. The reprogrammed output is processed by a two-layer backend learning module as the final adapted speaker embedding. The number of parameters involved in the gradient calculation is small in our design. With few additional parameters, the proposed method achieves both memory and parameter efficiency. The experiments are conducted in language mismatch scenarios. Using much less computation cost, the proposed method obtains close or superior performance to the fully finetuned models in our experiments, which demonstrates its effectiveness.

Collaborative perception, which greatly enhances the sensing capability of connected and autonomous vehicles (CAVs) by incorporating data from external resources, also brings forth potential security risks. CAVs' driving decisions rely on remote untrusted data, making them susceptible to attacks carried out by malicious participants in the collaborative perception system. However, security analysis and countermeasures for such threats are absent. To understand the impact of the vulnerability, we break the ground by proposing various real-time data fabrication attacks in which the attacker delivers crafted malicious data to victims in order to perturb their perception results, leading to hard brakes or increased collision risks. Our attacks demonstrate a high success rate of over 86\% on high-fidelity simulated scenarios and are realizable in real-world experiments. To mitigate the vulnerability, we present a systematic anomaly detection approach that enables benign vehicles to jointly reveal malicious fabrication. It detects 91.5% of attacks with a false positive rate of 3% in simulated scenarios and significantly mitigates attack impacts in real-world scenarios.

The traditional machine learning models to solve optimal power flow (OPF) are mostly trained for a given power network and lack generalizability to today's power networks with varying topologies and growing plug-and-play distributed energy resources (DERs). In this paper, we propose DeepOPF-U, which uses one unified deep neural network (DNN) to solve alternating-current (AC) OPF problems in different power networks, including a set of power networks that is successively expanding. Specifically, we design elastic input and output layers for the vectors of given loads and OPF solutions with varying lengths in different networks. The proposed method, using a single unified DNN, can deal with different and growing numbers of buses, lines, loads, and DERs. Simulations of IEEE 57/118/300-bus test systems and a network growing from 73 to 118 buses verify the improved performance of DeepOPF-U compared to existing DNN-based solution methods.

Spiking neural networks (SNNs) have tremendous potential for energy-efficient neuromorphic chips due to their binary and event-driven architecture. SNNs have been primarily used in classification tasks, but limited exploration on image generation tasks. To fill the gap, we propose a Spiking-Diffusion model, which is based on the vector quantized discrete diffusion model. First, we develop a vector quantized variational autoencoder with SNNs (VQ-SVAE) to learn a discrete latent space for images. In VQ-SVAE, image features are encoded using both the spike firing rate and postsynaptic potential, and an adaptive spike generator is designed to restore embedding features in the form of spike trains. Next, we perform absorbing state diffusion in the discrete latent space and construct a spiking diffusion image decoder (SDID) with SNNs to denoise the image. Our work is the first to build the diffusion model entirely from SNN layers. Experimental results on MNIST, FMNIST, KMNIST, Letters, and Cifar10 demonstrate that Spiking-Diffusion outperforms the existing SNN-based generation model. We achieve FIDs of 37.50, 91.98, 59.23, 67.41, and 120.5 on the above datasets respectively, with reductions of 58.60\%, 18.75\%, 64.51\%, 29.75\%, and 44.88\% in FIDs compared with the state-of-art work. Our code will be available at \url{//github.com/Arktis2022/Spiking-Diffusion}.

Unmanned aerial vehicle (UAV) swarm enabled edge computing is envisioned to be promising in the sixth generation wireless communication networks due to their wide application sensories and flexible deployment. However, most of the existing works focus on edge computing enabled by a single or a small scale UAVs, which are very different from UAV swarm-enabled edge computing. In order to facilitate the practical applications of UAV swarm-enabled edge computing, the state of the art research is presented in this article. The potential applications, architectures and implementation considerations are illustrated. Moreover, the promising enabling technologies for UAV swarm-enabled edge computing are discussed. Furthermore, we outline challenges and open issues in order to shed light on the future research directions.

Generative adversarial networks (GANs) have been extensively studied in the past few years. Arguably their most significant impact has been in the area of computer vision where great advances have been made in challenges such as plausible image generation, image-to-image translation, facial attribute manipulation and similar domains. Despite the significant successes achieved to date, applying GANs to real-world problems still poses significant challenges, three of which we focus on here. These are: (1) the generation of high quality images, (2) diversity of image generation, and (3) stable training. Focusing on the degree to which popular GAN technologies have made progress against these challenges, we provide a detailed review of the state of the art in GAN-related research in the published scientific literature. We further structure this review through a convenient taxonomy we have adopted based on variations in GAN architectures and loss functions. While several reviews for GANs have been presented to date, none have considered the status of this field based on their progress towards addressing practical challenges relevant to computer vision. Accordingly, we review and critically discuss the most popular architecture-variant, and loss-variant GANs, for tackling these challenges. Our objective is to provide an overview as well as a critical analysis of the status of GAN research in terms of relevant progress towards important computer vision application requirements. As we do this we also discuss the most compelling applications in computer vision in which GANs have demonstrated considerable success along with some suggestions for future research directions. Code related to GAN-variants studied in this work is summarized on //github.com/sheqi/GAN_Review.

Graph convolutional network (GCN) has been successfully applied to many graph-based applications; however, training a large-scale GCN remains challenging. Current SGD-based algorithms suffer from either a high computational cost that exponentially grows with number of GCN layers, or a large space requirement for keeping the entire graph and the embedding of each node in memory. In this paper, we propose Cluster-GCN, a novel GCN algorithm that is suitable for SGD-based training by exploiting the graph clustering structure. Cluster-GCN works as the following: at each step, it samples a block of nodes that associate with a dense subgraph identified by a graph clustering algorithm, and restricts the neighborhood search within this subgraph. This simple but effective strategy leads to significantly improved memory and computational efficiency while being able to achieve comparable test accuracy with previous algorithms. To test the scalability of our algorithm, we create a new Amazon2M data with 2 million nodes and 61 million edges which is more than 5 times larger than the previous largest publicly available dataset (Reddit). For training a 3-layer GCN on this data, Cluster-GCN is faster than the previous state-of-the-art VR-GCN (1523 seconds vs 1961 seconds) and using much less memory (2.2GB vs 11.2GB). Furthermore, for training 4 layer GCN on this data, our algorithm can finish in around 36 minutes while all the existing GCN training algorithms fail to train due to the out-of-memory issue. Furthermore, Cluster-GCN allows us to train much deeper GCN without much time and memory overhead, which leads to improved prediction accuracy---using a 5-layer Cluster-GCN, we achieve state-of-the-art test F1 score 99.36 on the PPI dataset, while the previous best result was 98.71 by [16]. Our codes are publicly available at //github.com/google-research/google-research/tree/master/cluster_gcn.