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Unmanned aerial vehicles (UAVs) are envisioned to be extensively employed for assisting wireless communications in Internet of Things (IoT) applications. On the other hand, terahertz (THz) enabled intelligent reflecting surface (IRS) is expected to be one of the core enabling technologies for forthcoming beyond-5G wireless communications that promise a broad range of data-demand applications. In this paper, we propose a UAV-mounted IRS (UIRS) communication system over THz bands for confidential data dissemination from an access point (AP) towards multiple ground user equipments (UEs) in IoT networks. Specifically, the AP intends to send data to the scheduled UE, while unscheduled UEs may pose potential adversaries. To protect information messages and the privacy of the scheduled UE, we aim to devise an energy-efficient multi-UAV covert communication scheme, where the UIRS is for reliable data transmissions, and an extra UAV is utilized as a cooperative jammer generating artificial noise (AN) to degrade unscheduled UEs detection. We then formulate a novel minimum average energy efficiency (mAEE) optimization problem, targetting to improve the covert throughput and reduce UAVs' propulsion energy consumption subject to the covertness requirement, which is determined analytically. Since the optimization problem is non-convex, we tackle it via the block successive convex approximation (BSCA) approach to iteratively solve a sequence of approximated convex sub-problems, designing the binary user scheduling, AP's power allocation, maximum AN jamming power, IRS beamforming, and both UAVs' trajectory planning. Finally, we present a low-complex overall algorithm for system performance enhancement with complexity and convergence analysis. Numerical results are provided to verify our analysis and demonstrate significant outperformance of our design over other existing benchmark schemes.

Resource-based consensus is the backbone of permissionless distributed ledger systems. The security of such protocols relies fundamentally on the level of resources actively engaged in the system. The variety of different resources (and related proof protocols, some times referred to as PoX in the literature) raises the fundamental question whether it is possible to utilize many of them in tandem and build multi-resource consensus protocols. The challenge in combining different resources is to achieve fungibility between them, in the sense that security would hold as long as the cumulative adversarial power across all resources is bounded. In this work, we put forth Minotaur, a multi-resource blockchain consensus protocol that combines proof of work (PoW) and proof-of-stake (PoS), and we prove it optimally fungible. At the core of our design, Minotaur operates in epochs while continuously sampling the active computational power to provide a fair exchange between the two resources, work and stake. Further, we demonstrate the ability of Minotaur to handle a higher degree of work fluctuation as compared to the Bitcoin blockchain; we also generalize Minotaur to any number of resources. We demonstrate the simplicity of Minotaur via implementing a full stack client in Rust (available open source). We use the client to test the robustness of Minotaur to variable mining power and combined work/stake attacks and demonstrate concrete empirical evidence towards the suitability of Minotaur to serve as the consensus layer of a real-world blockchain.

Iterative distributed optimization algorithms involve multiple agents that communicate with each other, over time, in order to minimize/maximize a global objective. In the presence of unreliable communication networks, the Age-of-Information (AoI), which measures the freshness of data received, may be large and hence hinder algorithmic convergence. In this paper, we study the convergence of general distributed gradient-based optimization algorithms in the presence of communication that neither happens periodically nor at stochastically independent points in time. We show that convergence is guaranteed provided the random variables associated with the AoI processes are stochastically dominated by a random variable with finite first moment. This improves on previous requirements of boundedness of more than the first moment. We then introduce stochastically strongly connected (SSC) networks, a new stochastic form of strong connectedness for time-varying networks. We show: If for any $p \ge0$ the processes that describe the success of communication between agents in a SSC network are $\alpha$-mixing with $n^{p-1}\alpha(n)$ summable, then the associated AoI processes are stochastically dominated by a random variable with finite $p$-th moment. In combination with our first contribution, this implies that distributed stochastic gradient descend converges in the presence of AoI, if $\alpha(n)$ is summable.

As different research works report and daily life experiences confirm, learning models can result in biased outcomes. The biased learned models usually replicate historical discrimination in society and typically negatively affect the less represented identities. Robots are equipped with these models that allow them to operate, performing tasks more complex every day. The learning process consists of different stages depending on human judgments. Moreover, the resulting learned models for robot decisions rely on recorded labeled data or demonstrations. Therefore, the robot learning process is susceptible to bias linked to human behavior in society. This imposes a potential danger, especially when robots operate around humans and the learning process can reflect the social unfairness present today. Different feminist proposals study social inequality and provide essential perspectives towards removing bias in various fields. What is more, feminism allowed and still allows to reconfigure numerous social dynamics and stereotypes advocating for equality across people through their diversity. Consequently, we provide a feminist perspective on the robot learning process in this work. We base our discussion on intersectional feminism, community feminism, decolonial feminism, and pedagogy perspectives, and we frame our work in a feminist robotics approach. In this paper, we present an initial discussion to emphasize the relevance of feminist perspectives to explore, foresee, en eventually correct the biased robot decisions.

We study the problem of efficiently computing on encoded data. More specifically, we study the question of low-bandwidth computation of functions $F:\mathbb{F}^k \to \mathbb{F}$ of some data $x \in \mathbb{F}^k$, given access to an encoding $c \in \mathbb{F}^n$ of $x$ under an error correcting code. In our model -- relevant in distributed storage, distributed computation and secret sharing -- each symbol of $c$ is held by a different party, and we aim to minimize the total amount of information downloaded from each party in order to compute $F(x)$. Special cases of this problem have arisen in several domains, and we believe that it is fruitful to study this problem in generality. Our main result is a low-bandwidth scheme to compute linear functions for Reed-Solomon codes, even in the presence of erasures. More precisely, let $\epsilon > 0$ and let $\mathcal{C}: \mathbb{F}^k \to \mathbb{F}^n$ be a full-length Reed-Solomon code of rate $1 - \epsilon$ over a field $\mathbb{F}$ with constant characteristic. For any $\gamma \in [0, \epsilon)$, our scheme can compute any linear function $F(x)$ given access to any $(1 - \gamma)$-fraction of the symbols of $\mathcal{C}(x)$, with download bandwidth $O(n/(\epsilon - \gamma))$ bits. In contrast, the naive scheme that involves reconstructing the data $x$ and then computing $F(x)$ uses $\Theta(n \log n)$ bits. Our scheme has applications in distributed storage, coded computation, and homomorphic secret sharing.

Active inference is a unifying theory for perception and action resting upon the idea that the brain maintains an internal model of the world by minimizing free energy. From a behavioral perspective, active inference agents can be seen as self-evidencing beings that act to fulfill their optimistic predictions, namely preferred outcomes or goals. In contrast, reinforcement learning requires human-designed rewards to accomplish any desired outcome. Although active inference could provide a more natural self-supervised objective for control, its applicability has been limited because of the shortcomings in scaling the approach to complex environments. In this work, we propose a contrastive objective for active inference that strongly reduces the computational burden in learning the agent's generative model and planning future actions. Our method performs notably better than likelihood-based active inference in image-based tasks, while also being computationally cheaper and easier to train. We compare to reinforcement learning agents that have access to human-designed reward functions, showing that our approach closely matches their performance. Finally, we also show that contrastive methods perform significantly better in the case of distractors in the environment and that our method is able to generalize goals to variations in the background.

As data are increasingly being stored in different silos and societies becoming more aware of data privacy issues, the traditional centralized training of artificial intelligence (AI) models is facing efficiency and privacy challenges. Recently, federated learning (FL) has emerged as an alternative solution and continue to thrive in this new reality. Existing FL protocol design has been shown to be vulnerable to adversaries within or outside of the system, compromising data privacy and system robustness. Besides training powerful global models, it is of paramount importance to design FL systems that have privacy guarantees and are resistant to different types of adversaries. In this paper, we conduct the first comprehensive survey on this topic. Through a concise introduction to the concept of FL, and a unique taxonomy covering: 1) threat models; 2) poisoning attacks and defenses against robustness; 3) inference attacks and defenses against privacy, we provide an accessible review of this important topic. We highlight the intuitions, key techniques as well as fundamental assumptions adopted by various attacks and defenses. Finally, we discuss promising future research directions towards robust and privacy-preserving federated learning.

Interpretation of Deep Neural Networks (DNNs) training as an optimal control problem with nonlinear dynamical systems has received considerable attention recently, yet the algorithmic development remains relatively limited. In this work, we make an attempt along this line by reformulating the training procedure from the trajectory optimization perspective. We first show that most widely-used algorithms for training DNNs can be linked to the Differential Dynamic Programming (DDP), a celebrated second-order trajectory optimization algorithm rooted in the Approximate Dynamic Programming. In this vein, we propose a new variant of DDP that can accept batch optimization for training feedforward networks, while integrating naturally with the recent progress in curvature approximation. The resulting algorithm features layer-wise feedback policies which improve convergence rate and reduce sensitivity to hyper-parameter over existing methods. We show that the algorithm is competitive against state-ofthe-art first and second order methods. Our work opens up new avenues for principled algorithmic design built upon the optimal control theory.

In this monograph, I introduce the basic concepts of Online Learning through a modern view of Online Convex Optimization. Here, online learning refers to the framework of regret minimization under worst-case assumptions. I present first-order and second-order algorithms for online learning with convex losses, in Euclidean and non-Euclidean settings. All the algorithms are clearly presented as instantiation of Online Mirror Descent or Follow-The-Regularized-Leader and their variants. Particular attention is given to the issue of tuning the parameters of the algorithms and learning in unbounded domains, through adaptive and parameter-free online learning algorithms. Non-convex losses are dealt through convex surrogate losses and through randomization. The bandit setting is also briefly discussed, touching on the problem of adversarial and stochastic multi-armed bandits. These notes do not require prior knowledge of convex analysis and all the required mathematical tools are rigorously explained. Moreover, all the proofs have been carefully chosen to be as simple and as short as possible.

We investigate how the final parameters found by stochastic gradient descent are influenced by over-parameterization. We generate families of models by increasing the number of channels in a base network, and then perform a large hyper-parameter search to study how the test error depends on learning rate, batch size, and network width. We find that the optimal SGD hyper-parameters are determined by a "normalized noise scale," which is a function of the batch size, learning rate, and initialization conditions. In the absence of batch normalization, the optimal normalized noise scale is directly proportional to width. Wider networks, with their higher optimal noise scale, also achieve higher test accuracy. These observations hold for MLPs, ConvNets, and ResNets, and for two different parameterization schemes ("Standard" and "NTK"). We observe a similar trend with batch normalization for ResNets. Surprisingly, since the largest stable learning rate is bounded, the largest batch size consistent with the optimal normalized noise scale decreases as the width increases.