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Directed Exploration is a crucial challenge in reinforcement learning (RL), especially when rewards are sparse. Information-directed sampling (IDS), which optimizes the information ratio, seeks to do so by augmenting regret with information gain. However, estimating information gain is computationally intractable or relies on restrictive assumptions which prohibit its use in many practical instances. In this work, we posit an alternative exploration incentive in terms of the integral probability metric (IPM) between a current estimate of the transition model and the unknown optimal, which under suitable conditions, can be computed in closed form with the kernelized Stein discrepancy (KSD). Based on KSD, we develop a novel algorithm \algo: \textbf{STE}in information dir\textbf{E}cted exploration for model-based \textbf{R}einforcement Learn\textbf{ING}. To enable its derivation, we develop fundamentally new variants of KSD for discrete conditional distributions. {We further establish that {\algo} archives sublinear Bayesian regret, improving upon prior learning rates of information-augmented MBRL.} Experimentally, we show that the proposed algorithm is computationally affordable and outperforms several prior approaches.

Spiking Neural Networks (SNNs) are at the forefront of neuromorphic computing thanks to their potential energy-efficiency, low latencies, and capacity for continual learning. While these capabilities are well suited for robotics tasks, SNNs have seen limited adaptation in this field thus far. This work introduces a SNN for Visual Place Recognition (VPR) that is both trainable within minutes and queryable in milliseconds, making it well suited for deployment on compute-constrained robotic systems. Our proposed system, VPRTempo, overcomes slow training and inference times using an abstracted SNN that trades biological realism for efficiency. VPRTempo employs a temporal code that determines the timing of a single spike based on a pixel's intensity, as opposed to prior SNNs relying on rate coding that determined the number of spikes; improving spike efficiency by over 100%. VPRTempo is trained using Spike-Timing Dependent Plasticity and a supervised delta learning rule enforcing that each output spiking neuron responds to just a single place. We evaluate our system on the Nordland and Oxford RobotCar benchmark localization datasets, which include up to 27k places. We found that VPRTempo's accuracy is comparable to prior SNNs and the popular NetVLAD place recognition algorithm, while being several orders of magnitude faster and suitable for real-time deployment -- with inference speeds over 50 Hz on CPU. VPRTempo could be integrated as a loop closure component for online SLAM on resource-constrained systems such as space and underwater robots.

We introduce CryptoBap, a platform to verify weak secrecy and authentication for the (ARMv8 and RISC-V) machine code of cryptographic protocols. We achieve this by first transpiling the binary of protocols into an intermediate representation and then performing a crypto-aware symbolic execution to automatically extract a model of the protocol that represents all its execution paths. Our symbolic execution resolves indirect jumps and supports bounded loops using the loop-summarization technique, which we fully automate. The extracted model is then translated into models amenable to automated verification via ProVerif and CryptoVerif using a third-party toolchain. We prove the soundness of the proposed approach and used CryptoBap to verify multiple case studies ranging from toy examples to real-world protocols, TinySSH, an implementation of SSH, and WireGuard, a modern VPN protocol.

Advanced Persistent Threat (APT) attacks are highly sophisticated and employ a multitude of advanced methods and techniques to target organizations and steal sensitive and confidential information. APT attacks consist of multiple stages and have a defined strategy, utilizing new and innovative techniques and technologies developed by hackers to evade security software monitoring. To effectively protect against APTs, detecting and predicting APT indicators with an explanation from Machine Learning (ML) prediction is crucial to reveal the characteristics of attackers lurking in the network system. Meanwhile, Federated Learning (FL) has emerged as a promising approach for building intelligent applications without compromising privacy. This is particularly important in cybersecurity, where sensitive data and high-quality labeling play a critical role in constructing effective machine learning models for detecting cyber threats. Therefore, this work proposes XFedHunter, an explainable federated learning framework for APT detection in Software-Defined Networking (SDN) leveraging local cyber threat knowledge from many training collaborators. In XFedHunter, Graph Neural Network (GNN) and Deep Learning model are utilized to reveal the malicious events effectively in the large number of normal ones in the network system. The experimental results on NF-ToN-IoT and DARPA TCE3 datasets indicate that our framework can enhance the trust and accountability of ML-based systems utilized for cybersecurity purposes without privacy leakage.

One key bottleneck of employing state-of-the-art semantic segmentation networks in the real world is the availability of training labels. Conventional semantic segmentation networks require massive pixel-wise annotated labels to reach state-of-the-art prediction quality. Hence, several works focus on semantic segmentation networks trained with only image-level annotations. However, when scrutinizing the results of state-of-the-art in more detail, we notice that they are remarkably close to each other on average prediction quality, different approaches perform better in different classes while providing low quality in others. To address this problem, we propose a novel framework, ISLE, which employs an ensemble of the "pseudo-labels" for a given set of different semantic segmentation techniques on a class-wise level. Pseudo-labels are the pixel-wise predictions of the image-level semantic segmentation frameworks used to train the final segmentation model. Our pseudo-labels seamlessly combine the strong points of multiple segmentation techniques approaches to reach superior prediction quality. We reach up to 2.4% improvement over ISLE's individual components. An exhaustive analysis was performed to demonstrate ISLE's effectiveness over state-of-the-art frameworks for image-level semantic segmentation.

White Matter Hyperintensity (WMH) is an imaging feature related to various diseases such as dementia and stroke. Accurately segmenting WMH using computer technology is crucial for early disease diagnosis. However, this task remains challenging due to the small lesions with low contrast and high discontinuity in the images, which contain limited contextual and spatial information. To address this challenge, we propose a deep learning model called 3D Spatial Attention U-Net (3D SA-UNet) for automatic WMH segmentation using only Fluid Attenuation Inversion Recovery (FLAIR) scans. The 3D SA-UNet introduces a 3D Spatial Attention Module that highlights important lesion features, such as WMH, while suppressing unimportant regions. Additionally, to capture features at different scales, we extend the Atrous Spatial Pyramid Pooling (ASPP) module to a 3D version, enhancing the segmentation performance of the network. We evaluate our method on publicly available dataset and demonstrate the effectiveness of 3D spatial attention module and 3D ASPP in WMH segmentation. Through experimental results, it has been demonstrated that our proposed 3D SA-UNet model achieves higher accuracy compared to other state-of-the-art 3D convolutional neural networks.

The goal of Feature Selection - comprising filter, wrapper, and embedded approaches - is to find the optimal feature subset for designated downstream tasks. Nevertheless, current feature selection methods are limited by: 1) the selection criteria of these methods are varied for different domains, making them hard to generalize; 2) the selection performance of these approaches drops significantly when processing high-dimensional feature space coupled with small sample size. In light of these challenges, we pose the question: can selected feature subsets be more robust, accurate, and input dimensionality agnostic? In this paper, we reformulate the feature selection problem as a deep differentiable optimization task and propose a new research perspective: conceptualizing discrete feature subsetting as continuous embedding space optimization. We introduce a novel and principled framework that encompasses a sequential encoder, an accuracy evaluator, a sequential decoder, and a gradient ascent optimizer. This comprehensive framework includes four important steps: preparation of features-accuracy training data, deep feature subset embedding, gradient-optimized search, and feature subset reconstruction. Specifically, we utilize reinforcement feature selection learning to generate diverse and high-quality training data and enhance generalization. By optimizing reconstruction and accuracy losses, we embed feature selection knowledge into a continuous space using an encoder-evaluator-decoder model structure. We employ a gradient ascent search algorithm to find better embeddings in the learned embedding space. Furthermore, we reconstruct feature selection solutions using these embeddings and select the feature subset with the highest performance for downstream tasks as the optimal subset.

Speech Emotion Recognition (SER) is a critical enabler of emotion-aware communication in human-computer interactions. Recent advancements in Deep Learning (DL) have substantially enhanced the performance of SER models through increased model complexity. However, designing optimal DL architectures requires prior experience and experimental evaluations. Encouragingly, Neural Architecture Search (NAS) offers a promising avenue to automatically determine an optimal DL model. In particular, Differentiable Architecture Search (DARTS) is an efficient method of using NAS to search for optimised models. This paper proposes emoDARTS, a DARTS-optimised joint CNN and LSTM architecture, to improve SER performance, where the literature informs the selection of CNN and LSTM coupling to offer improved performance. While DARTS has previously been applied to CNN and LSTM combinations, our approach introduces a novel mechanism, particularly in selecting CNN operations using DARTS. In contrast to previous studies, we refrain from imposing constraints on the layer order for the CNN within the DARTS cell; instead, we allow DARTS to determine the optimal layer order autonomously. Experimenting with the IEMOCAP and MSP-IMPROV datasets, we demonstrate that emoDARTS achieves significantly higher SER accuracy than hand-engineering the CNN-LSTM configuration. It also outperforms the best-reported SER results achieved using DARTS on CNN-LSTM.

Generative Adversarial Networks (GANs) can produce images of surprising complexity and realism, but are generally modeled to sample from a single latent source ignoring the explicit spatial interaction between multiple entities that could be present in a scene. Capturing such complex interactions between different objects in the world, including their relative scaling, spatial layout, occlusion, or viewpoint transformation is a challenging problem. In this work, we propose to model object composition in a GAN framework as a self-consistent composition-decomposition network. Our model is conditioned on the object images from their marginal distributions to generate a realistic image from their joint distribution by explicitly learning the possible interactions. We evaluate our model through qualitative experiments and user evaluations in both the scenarios when either paired or unpaired examples for the individual object images and the joint scenes are given during training. Our results reveal that the learned model captures potential interactions between the two object domains given as input to output new instances of composed scene at test time in a reasonable fashion.