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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.

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.

In this work, we investigate the inference time of the MobileNet family, EfficientNet V1 and V2 family, VGG models, Resnet family, and InceptionV3 on four edge platforms. Specifically NVIDIA Jetson Nano, Intel Neural Stick, Google Coral USB Dongle, and Google Coral PCIe. Our main contribution is a thorough analysis of the aforementioned models in multiple settings, especially as a function of input size, the presence of the classification head, its size, and the scale of the model. Since throughout the industry, those architectures are mainly utilized as feature extractors we put our main focus on analyzing them as such. We show that Google platforms offer the fastest average inference time, especially for newer models like MobileNet or EfficientNet family, while Intel Neural Stick is the most universal accelerator allowing to run most architectures. These results should provide guidance for engineers in the early stages of AI edge systems development. All of them are accessible at //bulletprove.com/research/edge_inference_results.csv

Deep learning (DL) is characterised by its dynamic nature, with new deep neural network (DNN) architectures and approaches emerging every few years, driving the field's advancement. At the same time, the ever-increasing use of mobile devices (MDs) has resulted in a surge of DNN-based mobile applications. Although traditional architectures, like CNNs and RNNs, have been successfully integrated into MDs, this is not the case for Transformers, a relatively new model family that has achieved new levels of accuracy across AI tasks, but poses significant computational challenges. In this work, we aim to make steps towards bridging this gap by examining the current state of Transformers' on-device execution. To this end, we construct a benchmark of representative models and thoroughly evaluate their performance across MDs with different computational capabilities. Our experimental results show that Transformers are not accelerator-friendly and indicate the need for software and hardware optimisations to achieve efficient deployment.

Recently, Blockchain-Enabled Federated Learning (BCFL), an innovative approach that combines the advantages of Federated Learning and Blockchain technology, is receiving great attention. Federated Learning (FL) allows multiple participants to jointly train machine learning models in a decentralized manner while maintaining data privacy and security. This paper proposes a reference architecture for blockchain-enabled federated learning, which enables multiple entities to collaboratively train machine learning models while preserving data privacy and security. A critical component of this architecture is the implementation of a decentralized identifier (DID)-based access system. DID introduces a decentralized, self-sovereign identity (ID) management system that allows participants to manage their IDs independently of central authorities. Within this proposed architecture, participants can authenticate and gain access to the federated learning platform via their DIDs, which are securely stored on the blockchain. The access system administers access control and permissions through the execution of smart contracts, further enhancing the security and decentralization of the system. This approach, integrating blockchain-enabled federated learning with a DID access system, offers a robust solution for collaborative machine learning in a distributed and secure manner. As a result, participants can contribute to global model training while maintaining data privacy and identity control without the need to share local data. These DIDs are stored on the blockchain and the access system uses smart contracts to manage access control and permissions. The source code will be available to the public soon.

The Internet of Things is a paradigm that refers to the ubiquitous presence around us of physical objects equipped with sensing, networking, and processing capabilities that allow them to cooperate with their environment to reach common goals. However, any threat affecting the availability of IoT applications can be crucial financially and for the safety of the physical integrity of users. This feature calls for IoT applications that remain operational and efficiently handle possible threats. However, designing an IoT application that can handle threats is challenging for stakeholders due to the high susceptibility to threats of IoT applications and the lack of modeling mechanisms that contemplate resilience as a first-class representation. In this paper, an architectural Design Decision Model for Resilient IoT applications is presented to reduce the difficulty of stakeholders in designing resilient IoT applications. Our approach is illustrated and demonstrates the value through the modeling of a case.

A plethora of different blockchain platforms have emerged in recent years, but many of them operate in silos. As such, there is a need for reliable cross-chain communication to enable blockchain interoperability. Blockchain interoperability is challenging because transactions can typically not be reverted - as such, if one transaction is committed then the protocol must ensure that all related transactions are committed as well. Existing interoperability approaches, e.g., Cosmos and Polkadot, are limited in the sense that they only support interoperability between their own subchains, or require intrusive changes to existing blockchains. To overcome this limitation, we propose PIEChain, a general, Kafka-based cross-chain communication framework. We utilize PIEChain for a practical case study: a cross-chain auction in which users who hold tokens on multiple chains bid for a ticket sold on another chain. PIEChain is the first publicly available, practical implementation of a general framework for cross-chain communication.

Blockchain is an emerging decentralized data collection, sharing and storage technology, which have provided abundant transparent, secure, tamper-proof, secure and robust ledger services for various real-world use cases. Recent years have witnessed notable developments of blockchain technology itself as well as blockchain-adopting applications. Most existing surveys limit the scopes on several particular issues of blockchain or applications, which are hard to depict the general picture of current giant blockchain ecosystem. In this paper, we investigate recent advances of both blockchain technology and its most active research topics in real-world applications. We first review the recent developments of consensus mechanisms and storage mechanisms in general blockchain systems. Then extensive literature is conducted on blockchain enabled IoT, edge computing, federated learning and several emerging applications including healthcare, COVID-19 pandemic, social network and supply chain, where detailed specific research topics are discussed in each. Finally, we discuss the future directions, challenges and opportunities in both academia and industry.

Deployment of Internet of Things (IoT) devices and Data Fusion techniques have gained popularity in public and government domains. This usually requires capturing and consolidating data from multiple sources. As datasets do not necessarily originate from identical sensors, fused data typically results in a complex data problem. Because military is investigating how heterogeneous IoT devices can aid processes and tasks, we investigate a multi-sensor approach. Moreover, we propose a signal to image encoding approach to transform information (signal) to integrate (fuse) data from IoT wearable devices to an image which is invertible and easier to visualize supporting decision making. Furthermore, we investigate the challenge of enabling an intelligent identification and detection operation and demonstrate the feasibility of the proposed Deep Learning and Anomaly Detection models that can support future application that utilizes hand gesture data from wearable devices.

In recent years, mobile devices have gained increasingly development with stronger computation capability and larger storage. Some of the computation-intensive machine learning and deep learning tasks can now be run on mobile devices. To take advantage of the resources available on mobile devices and preserve users' privacy, the idea of mobile distributed machine learning is proposed. It uses local hardware resources and local data to solve machine learning sub-problems on mobile devices, and only uploads computation results instead of original data to contribute to the optimization of the global model. This architecture can not only relieve computation and storage burden on servers, but also protect the users' sensitive information. Another benefit is the bandwidth reduction, as various kinds of local data can now participate in the training process without being uploaded to the server. In this paper, we provide a comprehensive survey on recent studies of mobile distributed machine learning. We survey a number of widely-used mobile distributed machine learning methods. We also present an in-depth discussion on the challenges and future directions in this area. We believe that this survey can demonstrate a clear overview of mobile distributed machine learning and provide guidelines on applying mobile distributed machine learning to real applications.