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Auditability allows to track all the read operations performed on a register. It abstracts the need of data owners to control access to their data, tracking who read which information. This work considers possible formalizations of auditing and their ramification for the possibility of providing it. The natural definition is to require a linearization of all write, read and audit operations together (atomic auditing). The paper shows that atomic auditing is a powerful tool, as it can be used to solve consensus. The number of processes that can solve consensus using atomic audit depends on the number of processes that can read or audit the register. If there is a single reader or a single auditor (the writer), then consensus can be solved among two processes. If multiple readers and auditors are possible, then consensus can be solved among the same number of processes. This means that strong synchronization primitives are needed to support atomic auditing. We give implementations of atomic audit when there are either multiple readers or multiple auditors (but not both) using primitives with consensus number 2 (swap and fetch&add). When there are multiple readers and multiple auditors, the implementation uses compare&swap. These findings motivate a weaker definition, in which audit operations are not linearized together with the write and read operations (regular auditing). We prove that regular auditing can be implemented from ordinary reads and writes on atomic registers.

Rigid robots can be precise in repetitive tasks, but struggle in unstructured environments. Nature's versatility in such environments inspires researchers to develop biomimetic robots that incorporate compliant and contracting artificial muscles. Among the recently proposed artificial muscle technologies, electrohydraulic actuators are promising since they offer performance comparable to that of mammalian muscles in terms of speed and power density. However, they require high driving voltages and have safety concerns due to exposed electrodes. These high voltages lead to either bulky or inefficient driving electronics that make untethered, high-degree-of-freedom bio-inspired robots difficult to realize. Here, we present hydraulically amplified low voltage electrostatic (HALVE) actuators that match mammalian skeletal muscles in average power density (50.5 W kg-1) and peak strain rate (971 % s-1) at a driving voltage of just 1100 V. This driving voltage is approx. 5-7 times lower compared to other electrohydraulic actuators using paraelectric dielectrics. Furthermore, HALVE actuators are safe to touch, waterproof, and self-clearing, which makes them easy to implement in wearables and robotics. We characterize, model, and physically validate key performance metrics of the actuator and compare its performance to state-of-the-art electrohydraulic designs. Finally, we demonstrate the utility of our actuators on two muscle-based electrohydraulic robots: an untethered soft robotic swimmer and a robotic gripper. We foresee that HALVE actuators can become a key building block for future highly-biomimetic untethered robots and wearables with many independent artificial muscles such as biomimetic hands, faces, or exoskeletons.

Explanations accompanied by a recommendation can assist users in understanding the decision made by recommendation systems, which in turn increases a user's confidence and trust in the system. Recently, research has focused on generating natural language explanations in a human-readable format. Thus far, the proposed approaches leverage item reviews written by users, which are often subjective, sparse in language, and unable to account for new items that have not been purchased or reviewed before. Instead, we aim to generate fact-grounded recommendation explanations that are objectively described with item features while implicitly considering a user's preferences, based on the user's purchase history. To achieve this, we propose a knowledge graph (KG) approach to natural language explainable recommendation. Our approach draws on user-item features through a novel collaborative filtering-based KG representation to produce fact-grounded, personalized explanations, while jointly learning user-item representations for recommendation scoring. Experimental results show that our approach consistently outperforms previous state-of-the-art models on natural language explainable recommendation.

Performance tuning, software/hardware co-design, and job scheduling are among the many tasks that rely on models to predict application performance. We propose and evaluate low-rank tensor decomposition for modeling application performance. We discretize the input and configuration domains of an application using regular grids. Application execution times mapped within grid-cells are averaged and represented by tensor elements. We show that low-rank canonical-polyadic (CP) tensor decomposition is effective in approximating these tensors. We further show that this decomposition enables accurate extrapolation of unobserved regions of an application's parameter space. We then employ tensor completion to optimize a CP decomposition given a sparse set of observed execution times. We consider alternative piecewise/grid-based models and supervised learning models for six applications and demonstrate that CP decomposition optimized using tensor completion offers higher prediction accuracy and memory-efficiency for high-dimensional performance modeling.

Increasing the degrees of freedom of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or interaction task does not fully determine its joint maneuvers. Additional constraints or objectives are required to solve the under-determined control and planning problems. The state-of-the-art approaches arrange tasks in a hierarchy and decouple lower from higher priority tasks on velocity or torque level using projectors. We develop an approach to redundancy resolution and decoupling on position level by determining subspaces of the configurations space independent of the primary task. We call them \emph{orthogonal foliations} because they are, in a certain sense, orthogonal to the task self-motion manifolds. The approach provides a better insight into the topological properties of robot kinematics and control problems, allowing a global view. A condition for the existence of orthogonal foliations is derived. If the condition is not satisfied, we will still find approximate solutions by numerical optimization. Coordinates can be defined on these orthogonal foliations and can be used as additional task variables for control. We show in simulations that we can control the system without the need for projectors using these coordinates, and we validate the approach experimentally on a 7-DoF robot.

Federated learning is known to be vulnerable to both security and privacy issues. Existing research has focused either on preventing poisoning attacks from users or on concealing the local model updates from the server, but not both. However, integrating these two lines of research remains a crucial challenge since they often conflict with one another with respect to the threat model. In this work, we develop a principle framework that offers both privacy guarantees for users and detection against poisoning attacks from them. With a new threat model that includes both an honest-but-curious server and malicious users, we first propose a secure aggregation protocol using homomorphic encryption for the server to combine local model updates in a private manner. Then, a zero-knowledge proof protocol is leveraged to shift the task of detecting attacks in the local models from the server to the users. The key observation here is that the server no longer needs access to the local models for attack detection. Therefore, our framework enables the central server to identify poisoned model updates without violating the privacy guarantees of secure aggregation.

This manuscript portrays optimization as a process. In many practical applications the environment is so complex that it is infeasible to lay out a comprehensive theoretical model and use classical algorithmic theory and mathematical optimization. It is necessary as well as beneficial to take a robust approach, by applying an optimization method that learns as one goes along, learning from experience as more aspects of the problem are observed. This view of optimization as a process has become prominent in varied fields and has led to some spectacular success in modeling and systems that are now part of our daily lives.

Seamlessly interacting with humans or robots is hard because these agents are non-stationary. They update their policy in response to the ego agent's behavior, and the ego agent must anticipate these changes to co-adapt. Inspired by humans, we recognize that robots do not need to explicitly model every low-level action another agent will make; instead, we can capture the latent strategy of other agents through high-level representations. We propose a reinforcement learning-based framework for learning latent representations of an agent's policy, where the ego agent identifies the relationship between its behavior and the other agent's future strategy. The ego agent then leverages these latent dynamics to influence the other agent, purposely guiding them towards policies suitable for co-adaptation. Across several simulated domains and a real-world air hockey game, our approach outperforms the alternatives and learns to influence the other agent.

Modern neural network training relies heavily on data augmentation for improved generalization. After the initial success of label-preserving augmentations, there has been a recent surge of interest in label-perturbing approaches, which combine features and labels across training samples to smooth the learned decision surface. In this paper, we propose a new augmentation method that leverages the first and second moments extracted and re-injected by feature normalization. We replace the moments of the learned features of one training image by those of another, and also interpolate the target labels. As our approach is fast, operates entirely in feature space, and mixes different signals than prior methods, one can effectively combine it with existing augmentation methods. We demonstrate its efficacy across benchmark data sets in computer vision, speech, and natural language processing, where it consistently improves the generalization performance of highly competitive baseline networks.

The demand for artificial intelligence has grown significantly over the last decade and this growth has been fueled by advances in machine learning techniques and the ability to leverage hardware acceleration. However, in order to increase the quality of predictions and render machine learning solutions feasible for more complex applications, a substantial amount of training data is required. Although small machine learning models can be trained with modest amounts of data, the input for training larger models such as neural networks grows exponentially with the number of parameters. Since the demand for processing training data has outpaced the increase in computation power of computing machinery, there is a need for distributing the machine learning workload across multiple machines, and turning the centralized into a distributed system. These distributed systems present new challenges, first and foremost the efficient parallelization of the training process and the creation of a coherent model. This article provides an extensive overview of the current state-of-the-art in the field by outlining the challenges and opportunities of distributed machine learning over conventional (centralized) machine learning, discussing the techniques used for distributed machine learning, and providing an overview of the systems that are available.