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Compiler correctness is an old problem, but with the emergence of smart contracts on blockchains that problem presents itself in a new light. Smart contracts are self-contained pieces of software that control assets, which are often of high financial value, in an adversarial environment and, once committed to the blockchain, they cannot be changed anymore. Smart contracts are typically developed in a high-level contract language and compiled to low-level virtual machine code before being committed to the blockchain. For a smart contract user to trust a given piece of low-level code on the blockchain, they must convince themselves that (a) they are in possession of the matching source code and (b) that the compiler faithfully translated the source code's semantics. Classic approaches to compiler correctness tackle the second point. We argue that translation certification also addresses the first. We describe the proof architecture of a novel translation certification framework, implemented in Coq, for a functional smart contract language. We demonstrate that we can model the compilation pipeline as a sequence of translation relations that facilitate a modular proof approach and are robust in the face of an evolving compiler implementation.

With the advent of the Internet of Things (IoT), establishing a secure channel between smart devices becomes crucial. Recent research proposes zero-interaction pairing (ZIP), which enables pairing without user assistance by utilizing devices' physical context (e.g., ambient audio) to obtain a shared secret key. The state-of-the-art ZIP schemes suffer from three limitations: (1) prolonged pairing time (i.e., minutes or hours), (2) vulnerability to brute-force offline attacks on a shared key, and (3) susceptibility to attacks caused by predictable context (e.g., replay attack) because they rely on limited entropy of physical context to protect a shared key. We address these limitations, proposing FastZIP, a novel ZIP scheme that significantly reduces pairing time while preventing offline and predictable context attacks. In particular, we adapt a recently introduced Fuzzy Password-Authenticated Key Exchange (fPAKE) protocol and utilize sensor fusion, maximizing their advantages. We instantiate FastZIP for intra-car device pairing to demonstrate its feasibility and show how the design of FastZIP can be adapted to other ZIP use cases. We implement FastZIP and evaluate it by driving four cars for a total of 800 km. We achieve up to three times shorter pairing time compared to the state-of-the-art ZIP schemes while assuring robust security with adversarial error rates below 0.5%.

Motion planning is critical to realize the autonomous operation of mobile robots. As the complexity and stochasticity of robot application scenarios increase, the planning capability of the classical hierarchical motion planners is challenged. In recent years, with the development of intelligent computation technology, the deep reinforcement learning (DRL) based motion planning algorithm has gradually become a research hotspot due to its advantageous features such as not relying on the map prior, model-free, and unified global and local planning paradigms. In this paper, we provide a systematic review of various motion planning methods. First, we summarize the representative and cutting-edge algorithms for each submodule of the classical motion planning architecture and analyze their performance limitations. Subsequently, we concentrate on reviewing RL-based motion planning approaches, including RL optimization motion planners, map-free end-to-end methods that integrate sensing and decision-making, and multi-robot cooperative planning methods. Last but not least, we analyze the urgent challenges faced by these mainstream RL-based motion planners in detail, review some state-of-the-art works for these issues, and propose suggestions for future research.

Reliable pedestrian crash avoidance mitigation (PCAM) systems are crucial components of safe autonomous vehicles (AVs). The nature of the vehicle-pedestrian interaction where decisions of one agent directly affect the other agent's optimal behavior, and vice versa, is a challenging yet often neglected aspect of such systems. We address this issue by defining a Markov decision process (MDP) for a simulated driving scenario in which an AV driving along an urban street faces a pedestrian trying to cross an unmarked crosswalk. The AV's PCAM decision policy is learned through deep reinforcement learning (DRL). Since modeling pedestrians realistically is challenging, we compare two levels of intelligent pedestrian behavior. While the baseline model follows a predefined strategy, our advanced pedestrian model is defined as a second DRL agent. This model captures continuous learning and the uncertainty inherent in human behavior, making the vehicle-pedestrian interaction a deep multi-agent reinforcement learning (DMARL) problem. We benchmark the developed PCAM systems according to the agents' collision rate and the resulting traffic flow efficiency with a focus on the influence of observation uncertainty or noise on the decision-making of the agents. The results show that the AV is able to completely mitigate collisions under the majority of the investigated conditions, and that the DRL pedestrian model indeed learns a more intelligent crossing behavior.

Politeness plays an important role in regulating communication and enhancing social interactions.Research suggests that people treat interactive systems as social agents and may expect those systems to exhibit polite behavior. We augment early research in this area by proposing a framework that is grounded in sociolinguistics and pragmatics. The framework focuses on two complementary concepts - clarity and politeness. We suggest that these concepts are pertinent to various domains of interactive technologies and provide examples for the applicability of clarity and politeness rules to human-computer interaction (HCI). We conducted a laboratory experiment, in which politeness and clarity served as independent factors in the context of a cooperative computer game, based on the Peekaboom game. The manipulation of clarity failed, yet politeness was manipulated successfully based on the framework's rules of politeness. The results provide empirical support for the basic propositions of the framework and may facilitate more systematic research on politeness in various domains of social computing and other areas related to HCI.

Jointly achieving safety and efficiency in human-robot interaction (HRI) settings is a challenging problem, as the robot's planning objectives may be at odds with the human's own intent and expectations. Recent approaches ensure safe robot operation in uncertain environments through a supervisory control scheme, sometimes called "shielding", which overrides the robot's nominal plan with a safety fallback strategy when a safety-critical event is imminent. These reactive "last-resort" strategies (typically in the form of aggressive emergency maneuvers) focus on preserving safety without efficiency considerations; when the nominal planner is unaware of possible safety overrides, shielding can be activated more frequently than necessary, leading to degraded performance. In this work, we propose a new shielding-based planning approach that allows the robot to plan efficiently by explicitly accounting for possible future shielding events. Leveraging recent work on Bayesian human motion prediction, the resulting robot policy proactively balances nominal performance with the risk of high-cost emergency maneuvers triggered by low-probability human behaviors. We formalize Shielding-Aware Robust Planning (SHARP) as a stochastic optimal control problem and propose a computationally efficient framework for finding tractable approximate solutions at runtime. Our method outperforms the shielding-agnostic motion planning baseline (equipped with the same human intent inference scheme) on simulated driving examples with human trajectories taken from the recently released Waymo Open Motion Dataset.

Most policy search algorithms require thousands of training episodes to find an effective policy, which is often infeasible with a physical robot. This survey article focuses on the extreme other end of the spectrum: how can a robot adapt with only a handful of trials (a dozen) and a few minutes? By analogy with the word "big-data", we refer to this challenge as "micro-data reinforcement learning". We show that a first strategy is to leverage prior knowledge on the policy structure (e.g., dynamic movement primitives), on the policy parameters (e.g., demonstrations), or on the dynamics (e.g., simulators). A second strategy is to create data-driven surrogate models of the expected reward (e.g., Bayesian optimization) or the dynamical model (e.g., model-based policy search), so that the policy optimizer queries the model instead of the real system. Overall, all successful micro-data algorithms combine these two strategies by varying the kind of model and prior knowledge. The current scientific challenges essentially revolve around scaling up to complex robots (e.g., humanoids), designing generic priors, and optimizing the computing time.

Collecting training data from the physical world is usually time-consuming and even dangerous for fragile robots, and thus, recent advances in robot learning advocate the use of simulators as the training platform. Unfortunately, the reality gap between synthetic and real visual data prohibits direct migration of the models trained in virtual worlds to the real world. This paper proposes a modular architecture for tackling the virtual-to-real problem. The proposed architecture separates the learning model into a perception module and a control policy module, and uses semantic image segmentation as the meta representation for relating these two modules. The perception module translates the perceived RGB image to semantic image segmentation. The control policy module is implemented as a deep reinforcement learning agent, which performs actions based on the translated image segmentation. Our architecture is evaluated in an obstacle avoidance task and a target following task. Experimental results show that our architecture significantly outperforms all of the baseline methods in both virtual and real environments, and demonstrates a faster learning curve than them. We also present a detailed analysis for a variety of variant configurations, and validate the transferability of our modular architecture.

This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of external sensors nor with human supervision. The robot learns to focus its attention onto groups of people from its own audio-visual experiences, independently of the number of people, of their positions and of their physical appearances. In particular, we use a recurrent neural network architecture in combination with Q-learning to find an optimal action-selection policy; we pre-train the network using a simulated environment that mimics realistic scenarios that involve speaking/silent participants, thus avoiding the need of tedious sessions of a robot interacting with people. Our experimental evaluation suggests that the proposed method is robust against parameter estimation, i.e. the parameter values yielded by the method do not have a decisive impact on the performance. The best results are obtained when both audio and visual information is jointly used. Experiments with the Nao robot indicate that our framework is a step forward towards the autonomous learning of socially acceptable gaze behavior.