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Stochastic human motion prediction (HMP) has generally been tackled with generative adversarial networks and variational autoencoders. Most prior works aim at predicting highly diverse movements in terms of the skeleton joints' dispersion. This has led to methods predicting fast and motion-divergent movements, which are often unrealistic and incoherent with past motion. Such methods also neglect contexts that need to anticipate diverse low-range behaviors, or actions, with subtle joint displacements. To address these issues, we present BeLFusion, a model that, for the first time, leverages latent diffusion models in HMP to sample from a latent space where behavior is disentangled from pose and motion. As a result, diversity is encouraged from a behavioral perspective. Thanks to our behavior coupler's ability to transfer sampled behavior to ongoing motion, BeLFusion's predictions display a variety of behaviors that are significantly more realistic than the state of the art. To support it, we introduce two metrics, the Area of the Cumulative Motion Distribution, and the Average Pairwise Distance Error, which are correlated to our definition of realism according to a qualitative study with 126 participants. Finally, we prove BeLFusion's generalization power in a new cross-dataset scenario for stochastic HMP.

Industrial control systems (ICSs) are types of cyber-physical systems in which programs, written in languages such as ladder logic or structured text, control industrial processes through sensing and actuating. Given the use of ICSs in critical infrastructure, it is important to test their resilience against manipulations of sensor/actuator inputs. Unfortunately, existing methods fail to test them comprehensively, as they typically focus on finding the simplest-to-craft manipulations for a testing goal, and are also unable to determine when a test is simply a minor permutation of another, i.e. based on the same causal events. In this work, we propose a guided fuzzing approach for finding 'meaningfully different' tests for an ICS via a general formalisation of sensor/actuator-manipulation strategies. Our algorithm identifies the causal events in a test, generalises them to an equivalence class, and then updates the fuzzing strategy so as to find new tests that are causally different from those already identified. An evaluation of our approach on a real-world water treatment system shows that it is able to find 106% more causally different tests than the most comparable fuzzer. While we focus on diversifying the test suite of an ICS, our formalisation may be useful for other fuzzers that intercept communication channels.

Simple temporal problems represent a powerful class of models capable of describing the temporal relations between events that arise in many real-world applications such as logistics, robot planning and management systems. The classic simple temporal problem permits each event to have only a single release and due date. In this paper, we focus on the case where events may have an arbitrarily large number of release and due dates. This type of problem, however, has been referred to by various names. In order to simplify and standardize nomenclatures, we introduce the name Simple Disjunctive Temporal Problem. We provide three mathematical models to describe this problem using constraint programming and linear programming. To efficiently solve simple disjunctive temporal problems, we design two new algorithms inspired by previous research, both of which exploit the problem's structure to significantly reduce their space complexity. Additionally, we implement algorithms from the literature and provide the first in-depth empirical study comparing methods to solve simple disjunctive temporal problems across a wide range of experiments. Our analysis and conclusions offer guidance for future researchers and practitioners when tackling similar temporal constraint problems in new applications. All results, source code and instances are made publicly available to further assist future research.

The problem of computing minimally sparse solutions of under-determined linear systems is $NP$ hard in general. Subsets with extra properties, may allow efficient algorithms, most notably problems with the restricted isometry property (RIP) can be solved by convex $\ell_1$-minimization. While these classes have been very successful, they leave out many practical applications. In this paper, we consider adaptable classes that are tractable after training on a curriculum of increasingly difficult samples. The setup is intended as a candidate model for a human mathematician, who may not be able to tackle an arbitrary proof right away, but may be successful in relatively flexible subclasses, or areas of expertise, after training on a suitable curriculum.

Model compression can significantly reduce the sizes of deep neural network (DNN) models, and thus facilitates the dissemination of sophisticated, sizable DNN models, especially for their deployment on mobile or embedded devices. However, the prediction results of compressed models may deviate from those of their original models. To help developers thoroughly understand the impact of model compression, it is essential to test these models to find those deviated behaviors before dissemination. However, this is a non-trivial task because the architectures and gradients of compressed models are usually not available. To this end, we propose DFLARE, a novel, search-based, black-box testing technique to automatically find triggering inputs that result in deviated behaviors in image classification tasks. DFLARE iteratively applies a series of mutation operations to a given seed image, until a triggering input is found. For better efficacy and efficiency, DFLARE models the search problem as Markov Chains and leverages the Metropolis-Hasting algorithm to guide the selection of mutation operators in each iteration. Further, DFLARE utilizes a novel fitness function to prioritize the mutated inputs that either cause large differences between two models' outputs, or trigger previously unobserved models' probability vectors. We evaluated DFLARE on 21 compressed models for image classification tasks with three datasets. The results show that DFLARE outperforms the baseline in terms of efficacy and efficiency. We also demonstrated that the triggering inputs found by DFLARE can be used to repair up to 48.48% deviated behaviors in image classification tasks and further decrease the effectiveness of DFLARE on the repaired models.

A variety of control tasks such as inverse kinematics (IK), trajectory optimization (TO), and model predictive control (MPC) are commonly formulated as energy minimization problems. Numerical solutions to such problems are well-established. However, these are often too slow to be used directly in real-time applications. The alternative is to learn solution manifolds for control problems in an offline stage. Although this distillation process can be trivially formulated as a behavioral cloning (BC) problem in an imitation learning setting, our experiments highlight a number of significant shortcomings arising due to incompatible local minima, interpolation artifacts, and insufficient coverage of the state space. In this paper, we propose an alternative to BC that is efficient and numerically robust. We formulate the learning of solution manifolds as a minimization of the energy terms of a control objective integrated over the space of problems of interest. We minimize this energy integral with a novel method that combines Monte Carlo-inspired adaptive sampling strategies with the derivatives used to solve individual instances of the control task. We evaluate the performance of our formulation on a series of robotic control problems of increasing complexity, and we highlight its benefits through comparisons against traditional methods such as behavioral cloning and Dataset aggregation (Dagger).

The interconnected smart devices and industrial internet of things devices require low-latency communication to fulfill control objectives despite limited resources. In essence, such devices have a time-critical nature but also require a highly accurate data input based on its significance. In this paper, we investigate various coordinated and distributed semantic scheduling schemes with a data significance perspective. In particular, novel algorithms are proposed to analyze the benefit of such schemes for the significance in terms of estimation accuracy. Then, we derive the bounds of the achievable estimation accuracy. Our numerical results showcase the superiority of semantic scheduling policies that adopt an integrated control and communication strategy. In essence, such policies can reduce the weighted sum of mean squared errors compared to traditional policies.

Display Ads and the generalized assignment problem are two well-studied online packing problems with important applications in ad allocation and other areas. In both problems, ad impressions arrive online and have to be allocated immediately to budget-constrained advertisers. Worst-case algorithms that achieve the ideal competitive ratio are known, but might act overly conservative given the predictable and usually tame nature of real-world input. Given this discrepancy, we develop an algorithm for both problems that incorporate machine-learned predictions and can thus improve the performance beyond the worst-case. Our algorithm is based on the work of Feldman et al. (2009) and similar in nature to Mahdian et al. (2007) who were the first to develop a learning-augmented algorithm for the related, but more structured Ad Words problem. We use a novel analysis to show that our algorithm is able to capitalize on a good prediction, while being robust against poor predictions. We experimentally evaluate our algorithm on synthetic and real-world data on a wide range of predictions. Our algorithm is consistently outperforming the worst-case algorithm without predictions.

Traffic systems are multi-agent cyber-physical systems whose performance is closely related to human welfare. They work in open environments and are subject to uncertainties from various sources, making their performance hard to verify by traditional model-based approaches. Alternatively, statistical model checking (SMC) can verify their performance by sequentially drawing sample data until the correctness of a performance specification can be inferred with desired statistical accuracy. This work aims to verify traffic systems with privacy, motivated by the fact that the data used may include personal information (e.g., daily itinerary) and get leaked unintendedly by observing the execution of the SMC algorithm. To formally capture data privacy in SMC, we introduce the concept of expected differential privacy (EDP), which constrains how much the algorithm execution can change in the expectation sense when data change. Accordingly, we introduce an exponential randomization mechanism for the SMC algorithm to achieve the EDP. Our case study on traffic intersections by Vissim simulation shows the high accuracy of SMC in traffic model verification without significantly sacrificing computing efficiency. The case study also shows EDP successfully bounding the algorithm outputs to guarantee privacy.

Recommendation systems are dynamic economic systems that balance the needs of multiple stakeholders. A recent line of work studies incentives from the content providers' point of view. Content providers, e.g., vloggers and bloggers, contribute fresh content and rely on user engagement to create revenue and finance their operations. In this work, we propose a contextual multi-armed bandit setting to model the dependency of content providers on exposure. In our model, the system receives a user context in every round and has to select one of the arms. Every arm is a content provider who must receive a minimum number of pulls every fixed time period (e.g., a month) to remain viable in later rounds; otherwise, the arm departs and is no longer available. The system aims to maximize the users' (content consumers) welfare. To that end, it should learn which arms are vital and ensure they remain viable by subsidizing arm pulls if needed. We develop algorithms with sub-linear regret, as well as a lower bound that demonstrates that our algorithms are optimal up to logarithmic factors.