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To support the extremely high spectral efficiency and energy efficiency requirements, and emerging applications of future wireless communications, holographic multiple-input multiple-output (H-MIMO) technology is envisioned as one of the most promising enablers. It can potentially bring extra degrees-of-freedom for communications and signal processing, including spatial multiplexing in line-of-sight (LoS) channels and electromagnetic (EM) field processing performed using specialized devices, to attain the fundamental limits of wireless communications. In this context, EM-domain channel modeling is critical to harvest the benefits offered by H-MIMO. Existing EM-domain channel models are built based on the tensor Green function, which require prior knowledge of the global position and/or the relative distances and directions of the transmit/receive antenna elements. Such knowledge may be difficult to acquire in real-world applications due to extensive measurements needed for obtaining this data. To overcome this limitation, we propose a transmit-receive parameter separable channel model methodology in which the EM-domain (or holographic) channel can be simply acquired from the distance/direction measured between the center-points between the transmit and receive surfaces, and the local positions between the transmit and receive elements, thus avoiding extensive global parameter measurements. Analysis and numerical results showcase the effectiveness of the proposed channel modeling approach in approximating the H-MIMO channel, and achieving the theoretical channel capacity.

Intelligent robots are designed to effectively navigate dynamic and unpredictable environments laden with moving mechanical elements and objects. Such environment-induced dynamics, including moving obstacles, can readily alter the computational demand (e.g., the creation of new tasks) and the structure of workloads (e.g., precedence constraints among tasks) during runtime, thereby adversely affecting overall system performance. This challenge is amplified when multi-task inference is expected on robots operating under stringent resource and real-time constraints. To address such a challenge, we introduce RED, a systematic real-time scheduling approach designed to support multi-task deep neural network workloads in resource-limited robotic systems. It is designed to adaptively manage the Robotic Environmental Dynamics (RED) while adhering to real-time constraints. At the core of RED lies a deadline-based scheduler that employs an intermediate deadline assignment policy, effectively managing to change workloads and asynchronous inference prompted by complex, unpredictable environments. This scheduling framework also facilitates the flexible deployment of MIMONet (multi-input multi-output neural networks), which are commonly utilized in multi-tasking robotic systems to circumvent memory bottlenecks. Building on this scheduling framework, RED recognizes and leverages a unique characteristic of MIMONet: its weight-shared architecture. To further accommodate and exploit this feature, RED devises a novel and effective workload refinement and reconstruction process. This process ensures the scheduling framework's compatibility with MIMONet and maximizes efficiency.

Robotic manipulators are often designed with more actuated degrees-of-freedom than required to fully control an end effector's position and orientation. These "redundant" manipulators can allow infinite joint configurations that satisfy a particular task-space position and orientation, providing more possibilities for the manipulator to traverse a smooth collision-free trajectory. However, finding such a trajectory is non-trivial because the inverse kinematics for redundant manipulators cannot typically be solved analytically. Many strategies have been developed to tackle this problem, including Jacobian pseudo-inverse method, rapidly-expanding-random tree (RRT) motion planning, and quadratic programming (QP) based methods. Here, we present a flexible inverse kinematics-based QP strategy (iKinQP). Because it is independent of robot dynamics, the algorithm is relatively light-weight, and able to run in real-time in step with torque control. Collisions are defined as kinematic trees of elementary geometries, making the algorithm agnostic to the method used to determine what collisions are in the environment. Collisions are treated as hard constraints which guarantees the generation of collision-free trajectories. Trajectory smoothness is accomplished through the QP optimization. Our algorithm was evaluated for computational efficiency, smoothness, and its ability to provide trackable trajectories. It was shown that iKinQP is capable of providing smooth, collision-free trajectories at real-time rates.

With the increasing practicality of deep learning applications, practitioners are inevitably faced with datasets corrupted by noise from various sources such as measurement errors, mislabeling, and estimated surrogate inputs/outputs that can adversely impact the optimization results. It is a common practice to improve the optimization algorithm's robustness to noise, since this algorithm is ultimately in charge of updating the network parameters. Previous studies revealed that the first-order moment used in Adam-like stochastic gradient descent optimizers can be modified based on the Student's t-distribution. While this modification led to noise-resistant updates, the other associated statistics remained unchanged, resulting in inconsistencies in the assumed models. In this paper, we propose AdaTerm, a novel approach that incorporates the Student's t-distribution to derive not only the first-order moment but also all the associated statistics. This provides a unified treatment of the optimization process, offering a comprehensive framework under the statistical model of the t-distribution for the first time. The proposed approach offers several advantages over previously proposed approaches, including reduced hyperparameters and improved robustness and adaptability. This noise-adaptive behavior contributes to AdaTerm's exceptional learning performance, as demonstrated through various optimization problems with different and/or unknown noise ratios. Furthermore, we introduce a new technique for deriving a theoretical regret bound without relying on AMSGrad, providing a valuable contribution to the field

Vehicular communication networks are rapidly emerging as vehicles become smarter. However, these networks are increasingly susceptible to various attacks. The situation is exacerbated by the rise in automated vehicles complicates, emphasizing the need for security and authentication measures to ensure safe and effective traffic management. In this paper, we propose a novel hybrid physical layer security (PLS)-machine learning (ML) authentication scheme by exploiting the position of the transmitter vehicle as a device fingerprint. We use a time-of-arrival (ToA) based localization mechanism where the ToA is estimated at roadside units (RSUs), and the coordinates of the transmitter vehicle are extracted at the base station (BS).Furthermore, to track the mobility of the moving legitimate vehicle, we use ML model trained on several system parameters. We try two ML models for this purpose, i.e., support vector regression and decision tree. To evaluate our scheme, we conduct binary hypothesis testing on the estimated positions with the help of the ground truths provided by the ML model, which classifies the transmitter node as legitimate or malicious. Moreover, we consider the probability of false alarm and the probability of missed detection as performance metrics resulting from the binary hypothesis testing, and mean absolute error (MAE), mean square error (MSE), and coefficient of determination $\text{R}^2$ to further evaluate the ML models. We also compare our scheme with a baseline scheme that exploits the angle of arrival at RSUs for authentication. We observe that our proposed position-based mechanism outperforms the baseline scheme significantly in terms of missed detections.

We present a real-time visual-inertial dense mapping method capable of performing incremental 3D mesh reconstruction with high quality using only sequential monocular images and inertial measurement unit (IMU) readings. 6-DoF camera poses are estimated by a robust feature-based visual-inertial odometry (VIO), which also generates noisy sparse 3D map points as a by-product. We propose a sparse point aided multi-view stereo neural network (SPA-MVSNet) that can effectively leverage the informative but noisy sparse points from the VIO system. The sparse depth from VIO is firstly completed by a single-view depth completion network. This dense depth map, although naturally limited in accuracy, is then used as a prior to guide our MVS network in the cost volume generation and regularization for accurate dense depth prediction. Predicted depth maps of keyframe images by the MVS network are incrementally fused into a global map using TSDF-Fusion. We extensively evaluate both the proposed SPA-MVSNet and the entire visual-inertial dense mapping system on several public datasets as well as our own dataset, demonstrating the system's impressive generalization capabilities and its ability to deliver high-quality 3D mesh reconstruction online. Our proposed dense mapping system achieves a 39.7% improvement in F-score over existing systems when evaluated on the challenging scenarios of the EuRoC dataset.

LiDAR-based semantic perception tasks are critical yet challenging for autonomous driving. Due to the motion of objects and static/dynamic occlusion, temporal information plays an essential role in reinforcing perception by enhancing and completing single-frame knowledge. Previous approaches either directly stack historical frames to the current frame or build a 4D spatio-temporal neighborhood using KNN, which duplicates computation and hinders realtime performance. Based on our observation that stacking all the historical points would damage performance due to a large amount of redundant and misleading information, we propose the Sparse Voxel-Adjacent Query Network (SVQNet) for 4D LiDAR semantic segmentation. To take full advantage of the historical frames high-efficiently, we shunt the historical points into two groups with reference to the current points. One is the Voxel-Adjacent Neighborhood carrying local enhancing knowledge. The other is the Historical Context completing the global knowledge. Then we propose new modules to select and extract the instructive features from the two groups. Our SVQNet achieves state-of-the-art performance in LiDAR semantic segmentation of the SemanticKITTI benchmark and the nuScenes dataset.

Massive key performance indicators (KPIs) are monitored as multivariate time series data (MTS) to ensure the reliability of the software applications and service system. Accurately detecting the abnormality of MTS is very critical for subsequent fault elimination. The scarcity of anomalies and manual labeling has led to the development of various self-supervised MTS anomaly detection (AD) methods, which optimize an overall objective/loss encompassing all metrics' regression objectives/losses. However, our empirical study uncovers the prevalence of conflicts among metrics' regression objectives, causing MTS models to grapple with different losses. This critical aspect significantly impacts detection performance but has been overlooked in existing approaches. To address this problem, by mimicking the design of multi-gate mixture-of-experts (MMoE), we introduce CAD, a Conflict-aware multivariate KPI Anomaly Detection algorithm. CAD offers an exclusive structure for each metric to mitigate potential conflicts while fostering inter-metric promotions. Upon thorough investigation, we find that the poor performance of vanilla MMoE mainly comes from the input-output misalignment settings of MTS formulation and convergence issues arising from expansive tasks. To address these challenges, we propose a straightforward yet effective task-oriented metric selection and p&s (personalized and shared) gating mechanism, which establishes CAD as the first practicable multi-task learning (MTL) based MTS AD model. Evaluations on multiple public datasets reveal that CAD obtains an average F1-score of 0.943 across three public datasets, notably outperforming state-of-the-art methods. Our code is accessible at //github.com/dawnvince/MTS_CAD.

The development of autonomous agents which can interact with other agents to accomplish a given task is a core area of research in artificial intelligence and machine learning. Towards this goal, the Autonomous Agents Research Group develops novel machine learning algorithms for autonomous systems control, with a specific focus on deep reinforcement learning and multi-agent reinforcement learning. Research problems include scalable learning of coordinated agent policies and inter-agent communication; reasoning about the behaviours, goals, and composition of other agents from limited observations; and sample-efficient learning based on intrinsic motivation, curriculum learning, causal inference, and representation learning. This article provides a broad overview of the ongoing research portfolio of the group and discusses open problems for future directions.

The design of deep graph models still remains to be investigated and the crucial part is how to explore and exploit the knowledge from different hops of neighbors in an efficient way. In this paper, we propose a novel RNN-like deep graph neural network architecture by incorporating AdaBoost into the computation of network; and the proposed graph convolutional network called AdaGCN~(AdaBoosting Graph Convolutional Network) has the ability to efficiently extract knowledge from high-order neighbors and integrate knowledge from different hops of neighbors into the network in an AdaBoost way. We also present the architectural difference between AdaGCN and existing graph convolutional methods to show the benefits of our proposal. Finally, extensive experiments demonstrate the state-of-the-art prediction performance and the computational advantage of our approach AdaGCN.