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We consider the task of evaluating policies of algorithmic resource allocation through randomized controlled trials (RCTs). Such policies are tasked with optimizing the utilization of limited intervention resources, with the goal of maximizing the benefits derived. Evaluation of such allocation policies through RCTs proves difficult, notwithstanding the scale of the trial, because the individuals' outcomes are inextricably interlinked through resource constraints controlling the policy decisions. Our key contribution is to present a new estimator leveraging our proposed novel concept, that involves retrospective reshuffling of participants across experimental arms at the end of an RCT. We identify conditions under which such reassignments are permissible and can be leveraged to construct counterfactual trials, whose outcomes can be accurately ascertained, for free. We prove theoretically that such an estimator is more accurate than common estimators based on sample means -- we show that it returns an unbiased estimate and simultaneously reduces variance. We demonstrate the value of our approach through empirical experiments on synthetic, semi-synthetic as well as real case study data and show improved estimation accuracy across the board.

This work details a scalable framework to orchestrate a swarm of rotary-wing UAVs serving as cellular relays to facilitate beyond line-of-sight connectivity and traffic offloading for ground users. First, a Multiscale Adaptive Energy-conscious Scheduling and TRajectory Optimization (MAESTRO) framework is developed for a single UAV. Aiming to minimize the time-averaged latency to serve user requests, subject to an average UAV power constraint, it is shown that the optimization problem can be cast as a semi-Markov decision process, and exhibits a multiscale structure: outer actions on radial wait velocities and terminal service positions minimize the long-term delay-power trade-off, optimized via value iteration; given these outer actions, inner actions on angular wait velocities and service trajectories minimize a short-term delay-energy cost. A novel hierarchical competitive swarm optimization scheme is developed in the inner optimization, to devise high-resolution trajectories via iterative pair-wise updates. Next, MAESTRO is eXtended to UAV swarms (MAESTRO-X) via scalable policy replication: enabled by a decentralized command-and-control network, the optimal single-agent policy is augmented with spread maximization, consensus-driven conflict resolution, adaptive frequency reuse, and piggybacking. Numerical evaluations show that, for user requests of 10 Mbits, generated according to a Poisson arrival process with rate 0.2 req/min/UAV, single-agent MAESTRO offers 3.8x faster service than a high-altitude platform and 29% faster than a static UAV deployment; moreover, for a swarm of 3 UAV-relays, MAESTRO-X delivers data payloads 4.7x faster than a successive convex approximation scheme; and remarkably, a single UAV optimized via MAESTRO outclasses 3 UAVs optimized via a deep-Q network by 38%.

The fusion scheme is crucial to the multi-sensor fusion method that is the promising solution to the state estimation in complex and extreme environments like underground mines and planetary surfaces. In this work, a light-weight iEKF-based LiDAR-inertial odometry system is presented, which utilizes a degeneration-aware and modular sensor-fusion pipeline that takes both LiDAR points and relative pose from another odometry as the measurement in the update process only when degeneration is detected. Both the CRLB theory and simulation test are used to demonstrate the higher accuracy of our method compared to methods using a single observation. Furthermore, the proposed system is evaluated in perceptually challenging datasets against various state-of-the-art sensor-fusion methods. The results show that the proposed system achieves real-time and high estimation accuracy performance despite the challenging environment and poor observations.

In distributed ledger technologies (DLTs) with a directed acyclic graph (DAG) data structure, a block-issuing node can decide where to append new blocks and, consequently, how the DAG grows. This DAG data structure is typically decomposed into two pools of blocks, dependent on whether another block already references them. The unreferenced blocks are called the tips. Due to network delay, nodes can perceive the set of tips differently, giving rise to local tip pools. We present a new mathematical model to analyse the stability of the different local perceptions of the tip pools and allow heterogeneous and random network delay in the underlying peer-to-peer communication layer. Under natural assumptions, we prove that the number of tips is ergodic, converges to a stationary distribution, and provide quantitative bounds on the tip pool sizes. We conclude our study with agent-based simulations to illustrate the convergence of the tip pool sizes and the pool sizes' dependence on the communication delay and degree of centralization.

Reliability is one of the major design criteria in Cyber-Physical Systems (CPSs). This is because of the existence of some critical applications in CPSs and their failure is catastrophic. Therefore, employing strong error detection and correction mechanisms in CPSs is inevitable. CPSs are composed of a variety of units, including sensors, networks, and microcontrollers. Each of these units is probable to be in a faulty state at any time and the occurred fault can result in erroneous output. The fault may cause the units of CPS to malfunction and eventually crash. Traditional fault-tolerant approaches include redundancy time, hardware, information, and/or software. However, these approaches impose significant overheads besides their low error coverage, which limits their applicability. In addition, the interval between error occurrence and detection is too long in these approaches. In this paper, based on Deep Reinforcement Learning (DRL), a new error detection approach is proposed that not only detects errors with high accuracy but also can perform error detection at the moment due to very low inference time. The proposed approach can categorize different types of errors from normal data and predict whether the system will fail. The evaluation results illustrate that the proposed approach has improved more than 2x in terms of accuracy and more than 5x in terms of inference time compared to other approaches.

Value alignment problems arise in scenarios where the specified objectives of an AI agent don't match the true underlying objective of its users. The problem has been widely argued to be one of the central safety problems in AI. Unfortunately, most existing works in value alignment tend to focus on issues that are primarily related to the fact that reward functions are an unintuitive mechanism to specify objectives. However, the complexity of the objective specification mechanism is just one of many reasons why the user may have misspecified their objective. A foundational cause for misalignment that is being overlooked by these works is the inherent asymmetry in human expectations about the agent's behavior and the behavior generated by the agent for the specified objective. To address this lacuna, we propose a novel formulation for the value alignment problem, named goal alignment that focuses on a few central challenges related to value alignment. In doing so, we bridge the currently disparate research areas of value alignment and human-aware planning. Additionally, we propose a first-of-its-kind interactive algorithm that is capable of using information generated under incorrect beliefs about the agent, to determine the true underlying goal of the user.

Current software development is often quite code-centric and aimed at short-term deliverables, due to various contextual forces (such as the need for new revenue streams from many individual buyers). We're interested in software where different forces drive the development. \textbf{Well understood domains} and \textbf{long-lived software} provide one such context. A crucial observation is that software artifacts that are currently handwritten contain considerable duplication. By using domain-specific languages and generative techniques, we can capture the contents of many of the artifacts of such software. Assuming an appropriate codification of domain knowledge, we find that the resulting de-duplicated sources are shorter and closer to the domain. Our prototype, Drasil, indicates improvements to traceability and change management. We're also hopeful that this could lead to long-term productivity improvements for software where these forces are at play.

Since the cyberspace consolidated as fifth warfare dimension, the different actors of the defense sector began an arms race toward achieving cyber superiority, on which research, academic and industrial stakeholders contribute from a dual vision, mostly linked to a large and heterogeneous heritage of developments and adoption of civilian cybersecurity capabilities. In this context, augmenting the conscious of the context and warfare environment, risks and impacts of cyber threats on kinetic actuations became a critical rule-changer that military decision-makers are considering. A major challenge on acquiring mission-centric Cyber Situational Awareness (CSA) is the dynamic inference and assessment of the vertical propagations from situations that occurred at the mission supportive Information and Communications Technologies (ICT), up to their relevance at military tactical, operational and strategical views. In order to contribute on acquiring CSA, this paper addresses a major gap in the cyber defence state-of-the-art: the dynamic identification of Key Cyber Terrains (KCT) on a mission-centric context. Accordingly, the proposed KCT identification approach explores the dependency degrees among tasks and assets defined by commanders as part of the assessment criteria. These are correlated with the discoveries on the operational network and the asset vulnerabilities identified thorough the supported mission development. The proposal is presented as a reference model that reveals key aspects for mission-centric KCT analysis and supports its enforcement and further enforcement by including an illustrative application case.

In contrast to batch learning where all training data is available at once, continual learning represents a family of methods that accumulate knowledge and learn continuously with data available in sequential order. Similar to the human learning process with the ability of learning, fusing, and accumulating new knowledge coming at different time steps, continual learning is considered to have high practical significance. Hence, continual learning has been studied in various artificial intelligence tasks. In this paper, we present a comprehensive review of the recent progress of continual learning in computer vision. In particular, the works are grouped by their representative techniques, including regularization, knowledge distillation, memory, generative replay, parameter isolation, and a combination of the above techniques. For each category of these techniques, both its characteristics and applications in computer vision are presented. At the end of this overview, several subareas, where continuous knowledge accumulation is potentially helpful while continual learning has not been well studied, are discussed.

We propose the idea of transferring common-sense knowledge from source categories to target categories for scalable object detection. In our setting, the training data for the source categories have bounding box annotations, while those for the target categories only have image-level annotations. Current state-of-the-art approaches focus on image-level visual or semantic similarity to adapt a detector trained on the source categories to the new target categories. In contrast, our key idea is to (i) use similarity not at image-level, but rather at region-level, as well as (ii) leverage richer common-sense (based on attribute, spatial, etc.,) to guide the algorithm towards learning the correct detections. We acquire such common-sense cues automatically from readily-available knowledge bases without any extra human effort. On the challenging MS COCO dataset, we find that using common-sense knowledge substantially improves detection performance over existing transfer-learning baselines.