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Due to the complexity of modern computer systems, novel and unexpected behaviors frequently occur. Such deviations are either normal occurrences, such as software updates and new user activities, or abnormalities, such as misconfigurations, latency issues, intrusions, and software bugs. Regardless, novel behaviors are of great interest to developers, and there is a genuine need for efficient and effective methods to detect them. Nowadays, researchers consider system calls to be the most fine-grained and accurate source of information to investigate the behavior of computer systems. Accordingly, this paper introduces a novelty detection methodology that relies on a probability distribution over sequences of system calls, which can be seen as a language model. Language models estimate the likelihood of sequences, and since novelties deviate from previously observed behaviors by definition, they would be unlikely under the model. Following the success of neural networks for language models, three architectures are evaluated in this work: the widespread LSTM, the state-of-the-art Transformer, and the lower-complexity Longformer. However, large neural networks typically require an enormous amount of data to be trained effectively, and to the best of our knowledge, no massive modern datasets of kernel traces are publicly available. This paper addresses this limitation by introducing a new open-source dataset of kernel traces comprising over 2 million web requests with seven distinct behaviors. The proposed methodology requires minimal expert hand-crafting and achieves an F-score and AuROC greater than 95% on most novelties while being data- and task-agnostic. The source code and trained models are publicly available on GitHub while the datasets are available on Zenodo.

Robots must make and break contact to interact with the world and perform useful tasks. However, planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a surprisingly simple method: inverse dynamics trajectory optimization. While trajectory optimization with inverse dynamics is not new, we introduce a series of incremental innovations that collectively enable fast model predictive control on a variety of challenging manipulation and locomotion tasks. We implement these innovations in an open-source solver, and present a variety of simulation examples to support the effectiveness of the proposed approach. Additionally, we demonstrate contact-implicit model predictive control on hardware at over 100 Hz for a 20 degree-of-freedom bi-manual manipulation task.

The protection of Industrial Control Systems (ICS) that are employed in public critical infrastructures is of utmost importance due to catastrophic physical damages cyberattacks may cause. The research community requires testbeds for validation and comparing various intrusion detection algorithms to protect ICS. However, there exist high barriers to entry for research and education in the ICS cybersecurity domain due to expensive hardware, software, and inherent dangers of manipulating real-world systems. To close the gap, built upon recently developed 3D high-fidelity simulators, we further showcase our integrated framework to automatically launch cyberattacks, collect data, train machine learning models, and evaluate for practical chemical and manufacturing processes. On our testbed, we validate our proposed intrusion detection model called Minimal Threshold and Window SVM (MinTWin SVM) that utilizes unsupervised machine learning via a one-class SVM in combination with a sliding window and classification threshold. Results show that MinTWin SVM minimizes false positives and is responsive to physical process anomalies. Furthermore, we incorporate our framework with ICS cybersecurity education by using our dataset in an undergraduate machine learning course where students gain hands-on experience in practicing machine learning theory with a practical ICS dataset. All of our implementations have been open-sourced.

Offline Reinforcement Learning (RL) methods leverage previous experiences to learn better policies than the behavior policy used for data collection. In contrast to behavior cloning, which assumes the data is collected from expert demonstrations, offline RL can work with non-expert data and multimodal behavior policies. However, offline RL algorithms face challenges in handling distribution shifts and effectively representing policies due to the lack of online interaction during training. Prior work on offline RL uses conditional diffusion models to represent multimodal behavior in the dataset. Nevertheless, these methods are not tailored toward alleviating the out-of-distribution state generalization. We introduce a novel method named State Reconstruction for Diffusion Policies (SRDP), incorporating state reconstruction feature learning in the recent class of diffusion policies to address the out-of-distribution generalization problem. State reconstruction loss promotes generalizable representation learning of states to alleviate the distribution shift incurred by the out-of-distribution (OOD) states. We design a novel 2D Multimodal Contextual Bandit environment to illustrate the OOD generalization and faster convergence of SRDP compared to prior algorithms. In addition, we assess the performance of our model on D4RL continuous control benchmarks, namely the navigation of an 8-DoF ant and forward locomotion of half-cheetah, hopper, and walker2d, achieving state-of-the-art results.

As Large Language Models quickly become ubiquitous, their security vulnerabilities are critical to understand. Recent work shows that text optimizers can produce jailbreaking prompts that bypass moderation and alignment. Drawing from the rich body of work on adversarial machine learning, we approach these attacks with three questions: What threat models are practically useful in this domain? How do baseline defense techniques perform in this new domain? How does LLM security differ from computer vision? We evaluate several baseline defense strategies against leading adversarial attacks on LLMs, discussing the various settings in which each is feasible and effective. Particularly, we look at three types of defenses: detection (perplexity based), input preprocessing (paraphrase and retokenization), and adversarial training. We discuss white-box and gray-box settings and discuss the robustness-performance trade-off for each of the defenses considered. Surprisingly, we find much more success with filtering and preprocessing than we would expect from other domains, such as vision, providing a first indication that the relative strengths of these defenses may be weighed differently in these domains.

Pairs trading is a family of trading techniques that determine their policies based on monitoring the relationships between pairs of assets. A common pairs trading approach relies on describing the pair-wise relationship as a linear Space State (SS) model with Gaussian noise. This representation facilitates extracting financial indicators with low complexity and latency using a Kalman Filter (KF), that are then processed using classic policies such as Bollinger Bands (BB). However, such SS models are inherently approximated and mismatched, often degrading the revenue. In this work, we propose KalmenNet-aided Bollinger bands Pairs Trading (KBPT), a deep learning aided policy that augments the operation of KF-aided BB trading. KBPT is designed by formulating an extended SS model for pairs trading that approximates their relationship as holding partial co-integration. This SS model is utilized by a trading policy that augments KF-BB trading with a dedicated neural network based on the KalmanNet architecture. The resulting KBPT is trained in a two-stage manner which first tunes the tracking algorithm in an unsupervised manner independently of the trading task, followed by its adaptation to track the financial indicators to maximize revenue while approximating BB with a differentiable mapping. KBPT thus leverages data to overcome the approximated nature of the SS model, converting the KF-BB policy into a trainable model. We empirically demonstrate that our proposed KBPT systematically yields improved revenue compared with model-based and data-driven benchmarks over various different assets.

Mapping the surrounding environment is essential for the successful operation of autonomous robots. While extensive research has focused on mapping geometric structures and static objects, the environment is also influenced by the movement of dynamic objects. Incorporating information about spatial motion patterns can allow mobile robots to navigate and operate successfully in populated areas. In this paper, we propose a deep state-space model that learns the map representations of spatial motion patterns and how they change over time at a certain place. To evaluate our methods, we use two different datasets: one generated dataset with specific motion patterns and another with real-world pedestrian data. We test the performance of our model by evaluating its learning ability, mapping quality, and application to downstream tasks. The results demonstrate that our model can effectively learn the corresponding motion pattern, and has the potential to be applied to robotic application tasks.

Graphs are important data representations for describing objects and their relationships, which appear in a wide diversity of real-world scenarios. As one of a critical problem in this area, graph generation considers learning the distributions of given graphs and generating more novel graphs. Owing to their wide range of applications, generative models for graphs, which have a rich history, however, are traditionally hand-crafted and only capable of modeling a few statistical properties of graphs. Recent advances in deep generative models for graph generation is an important step towards improving the fidelity of generated graphs and paves the way for new kinds of applications. This article provides an extensive overview of the literature in the field of deep generative models for graph generation. Firstly, the formal definition of deep generative models for the graph generation and the preliminary knowledge are provided. Secondly, taxonomies of deep generative models for both unconditional and conditional graph generation are proposed respectively; the existing works of each are compared and analyzed. After that, an overview of the evaluation metrics in this specific domain is provided. Finally, the applications that deep graph generation enables are summarized and five promising future research directions are highlighted.

Graph Neural Networks (GNNs) have recently become increasingly popular due to their ability to learn complex systems of relations or interactions arising in a broad spectrum of problems ranging from biology and particle physics to social networks and recommendation systems. Despite the plethora of different models for deep learning on graphs, few approaches have been proposed thus far for dealing with graphs that present some sort of dynamic nature (e.g. evolving features or connectivity over time). In this paper, we present Temporal Graph Networks (TGNs), a generic, efficient framework for deep learning on dynamic graphs represented as sequences of timed events. Thanks to a novel combination of memory modules and graph-based operators, TGNs are able to significantly outperform previous approaches being at the same time more computationally efficient. We furthermore show that several previous models for learning on dynamic graphs can be cast as specific instances of our framework. We perform a detailed ablation study of different components of our framework and devise the best configuration that achieves state-of-the-art performance on several transductive and inductive prediction tasks for dynamic graphs.

Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that incorporates features from multiple scales. Initially, a foreground mask in a video frame is segmented into multi-scale superpixels. Then the human-like regions in the segmented area are identified by matching a set of extracted features from superpixels against learned features in a codebook. A carried object probability map is generated using the complement of the matching probabilities of superpixels to human-like regions and background information. A group of superpixels with high carried object probability and strong edge support is then merged to obtain the shape of the carried object. We applied our method to two challenging datasets, and results show that our method is competitive with or better than the state-of-the-art.