229 research outputs found
LIPIcs, Volume 251, ITCS 2023, Complete Volume
LIPIcs, Volume 251, ITCS 2023, Complete Volum
DESIGN AND VERIFICATION OF AUTONOMOUS SYSTEMS IN THE PRESENCE OF UNCERTAINTIES
Autonomous Systems offer hope towards moving away from mechanized, unsafe, manual, often inefficient practices. The last decade has seen several small, but important, steps towards making this dream into reality. These advancements have helped us to achieve limited autonomy in several places, such as, driving, factory floors, surgeries, wearables, and home assistants, etc. Nevertheless, autonomous systems are required to operate in a wide range of environments with uncertainties (viz., sensor errors, timing errors, dynamic nature of the environment, etc.). Such environmental uncertainties, even when present in small amounts, can have drastic impact on the safety of the system—thus hampering the goal of achieving higher degree of autonomy, especially in safety critical domains. To this end, the dissertation shall discuss formaltechniques that are able to verify and design autonomous systems for safety, even under the presence of such uncertainties, allowing for their trustworthy deployment in the real world. Specifically, the dissertation shall discuss monitoring techniques for autonomous systems from available (noisy) logs, and safety-verification techniques of autonomous system controllers under timing uncertainties. Secondly, using heterogeneous learning-based cloud computing models that can balance uncertainty in output and computation cost, the dissertation will present techniques for designing safe and performance-optimal autonomous systems.Doctor of Philosoph
Safe Deep Reinforcement Learning: Enhancing the Reliability of Intelligent Systems
In the last few years, the impressive success of deep reinforcement learning (DRL) agents in a wide variety of applications has led to the adoption of these systems in safety-critical contexts (e.g., autonomous driving, robotics, and medical applications), where expensive hardware and human safety can be involved. In such contexts, an intelligent learning agent must adhere to certain requirements that go beyond the simple accomplishment of the task and typically include constraints on the agent's behavior. Against this background, this thesis proposes a set of training and validation methodologies that constitute a unified pipeline to generate safe and reliable DRL agents. In the first part of this dissertation, we focus on the problem of constrained DRL, leaving the challenging problem of the formal verification of deep neural networks for the second part of this work. As humans, in our growing process, the help of a mentor is crucial to learn effective strategies to solve a problem while a learning process driven only by a trial-and-error approach usually leads to unsafe and inefficient solutions. Similarly, a pure end-to-end deep reinforcement learning approach often results in suboptimal policies, which typically translates into unpredictable, and thus unreliable, behaviors. Following this intuition, we propose to impose a set of constraints into the DRL loop to guide the training process. These requirements, which typically encode domain expert knowledge, can be seen as suggestions that the agent should follow but is allowed to sometimes ignore if useful to maximize the reward signal. A foundational requirement for our work is finding a proper strategy to define and formally encode these constraints (which we refer to as \textit{rules}). In this thesis, we propose to exploit a formal language inherited from the software engineering community: scenario-based programming (SBP). For the actual training, we rely on the constrained reinforcement learning paradigm, proposing an extended version of the Lagrangian PPO algorithm. Recalling the parallelism with human beings, before being authorized to perform safety-critical operations, we must obtain a certification (e.g., a license to drive a car or a degree to perform medical operations). In the second part of this dissertation, we apply this concept in a deep reinforcement learning context, where the intelligent agents are controlled by artificial neural networks. In particular, we propose to perform a model selection phase after the training to find models that formally respect some given safety requirements before the deployment. However, DNNs have long been considered unpredictable black boxes and thus unsuitable for safety-critical contexts. Against this background, we build upon the emerging field of formal verification for neural networks to extend state-of-the-art approaches to robotic decision-making contexts. We propose ``ProVe", a verification tool for decision-making DNNs that quantifies the probability of violating the specified requirements. In the last chapter of this thesis, we provide a complete case study on a popular robotic problem: ``mapless navigation". Here, we show a concrete example of the application of our pipeline, starting from the definition of the requirements to the training and the final formal verification phase, to finally obtain a provably safe and effective agent
Adversarial Attacks and Defenses in Machine Learning-Powered Networks: A Contemporary Survey
Adversarial attacks and defenses in machine learning and deep neural network
have been gaining significant attention due to the rapidly growing applications
of deep learning in the Internet and relevant scenarios. This survey provides a
comprehensive overview of the recent advancements in the field of adversarial
attack and defense techniques, with a focus on deep neural network-based
classification models. Specifically, we conduct a comprehensive classification
of recent adversarial attack methods and state-of-the-art adversarial defense
techniques based on attack principles, and present them in visually appealing
tables and tree diagrams. This is based on a rigorous evaluation of the
existing works, including an analysis of their strengths and limitations. We
also categorize the methods into counter-attack detection and robustness
enhancement, with a specific focus on regularization-based methods for
enhancing robustness. New avenues of attack are also explored, including
search-based, decision-based, drop-based, and physical-world attacks, and a
hierarchical classification of the latest defense methods is provided,
highlighting the challenges of balancing training costs with performance,
maintaining clean accuracy, overcoming the effect of gradient masking, and
ensuring method transferability. At last, the lessons learned and open
challenges are summarized with future research opportunities recommended.Comment: 46 pages, 21 figure
LIPIcs, Volume 261, ICALP 2023, Complete Volume
LIPIcs, Volume 261, ICALP 2023, Complete Volum
Statistical learning of random probability measures
The study of random probability measures is a lively research topic that has
attracted interest from different fields in recent years. In this thesis, we consider
random probability measures in the context of Bayesian nonparametrics,
where the law of a random probability measure is used as prior distribution,
and in the context of distributional data analysis, where
the goal is to perform inference given avsample from the law of a random probability measure.
The contributions contained in this thesis can be subdivided according to three
different topics: (i) the use of almost surely discrete repulsive random measures
(i.e., whose support points are well separated) for Bayesian model-based
clustering, (ii) the proposal of new laws for collections of random probability
measures for Bayesian density estimation of partially
exchangeable data subdivided into different groups, and (iii) the study
of principal component analysis and regression models for probability distributions
seen as elements of the 2-Wasserstein space. Specifically, for point
(i) above we propose an efficient Markov chain Monte Carlo algorithm for
posterior inference, which sidesteps the need of split-merge reversible jump
moves typically associated with poor performance, we propose a model for
clustering high-dimensional data by introducing a novel class of anisotropic
determinantal point processes, and study the distributional properties of the
repulsive measures, shedding light on important theoretical results which enable
more principled prior elicitation and more efficient posterior simulation
algorithms. For point (ii) above, we consider several models suitable for clustering
homogeneous populations, inducing spatial dependence across groups of
data, extracting the characteristic traits common to all the data-groups, and
propose a novel vector autoregressive model to study of growth
curves of Singaporean kids. Finally, for point (iii), we propose a novel class of
projected statistical methods for distributional data analysis for measures
on the real line and on the unit-circle
Online receding horizon planning of multi-contact locomotion
Legged robots can traverse uneven terrain by using multiple contacts between their limbs and the environment. Nevertheless, to enable reliable operation in the real world, legged robots necessarily require the capability to online re-plan their motions in response to changing conditions, such as environment changes, or state deviations due to external force perturbations. To approach this goal, Receding Horizon Planning (RHP) can be a promising solution. RHP refers to the planning framework that can constantly update the motion plan for immediate execution. To achieve successful RHP, we typically need to consider an extended planning horizon, which consists of an execution horizon that plans the motion to be executed, and a prediction horizon that foresees the future. Although the prediction horizon is never executed, it is important to the success of RHP. This is because the prediction horizon serves as a value function approximation that evaluates the feasibility and the future effort required for accomplishing the given task starting from a chosen robot state. Having such value information can guide the execution horizon toward the states that are beneficial for the future.
Nevertheless, computing such multi-contact motions for a legged robot to traverse uneven terrain can be time-consuming, especially when considering a long planning horizon. The computation complexity typically comes from the simultaneous resolution of the following two sub-problems: 1) selecting a gait pattern that specifies the sequence in which the limbs break and make contact with the environment; 2)synthesizing the contact and motion plan that determines the robot state trajectory along with the contact plan, i.e., contact locations and contact timings. The issue of gait pattern selection introduces combinatorial complexity into the planning problem,while the computation of the contact and motion plan brings high-dimensionality and non-convexity due to the consideration of complex non-linear dynamics constraints.
To facilitate online RHP of multi-contact motions, in this thesis, we focus on exploring novel methods to address these two sub-problems efficiently. To give more detail, we firstly consider the problem of planning contact and motion plans in an online receding horizon fashion. In this case, we pre-specifying the gait pattern as a priori. Although this helps us to avoid the combinatorial complexity, the resulting planning problem is still high-dimensional and non-convex, which can hinder online computation. To improve the computation speed, we propose to simplify the modeling of the value function approximation that is required for guiding the RHP. This leads to 1) Receding Horizon Planning with Multiple Levels of Model Fidelity, where we compute the prediction horizon with a convex relaxed model; 2) Locally- Guided Receding Horizon Planning—where we propose to learn an oracle to predict local objectives (intermediate goals) for completing a given task, and then we use these local objectives to construct local value functions to guide a short-horizon RHP. We evaluate our methods for planning centroidal trajectories of a humanoid robot walking on moderate slopes as well as large slopes where static stability cannot be maintained.The result of multi-fidelity RHP demonstrates that we can accelerate the computation speed by relaxing the model accuracy in the prediction horizon. However, the relaxation cannot be arbitrary. Furthermore, owing to the shortened planning horizon, we find that locally-guided RHP demonstrates the best computation efficiency (95%-98.6%cycles converge online). This computation advantage enables us to demonstrate online RHP for our real-world humanoid robot Talos walking in dynamic environments that change on-the-fly.
To handle the combinatorial complexity that arises from the gait pattern selection issue, we propose the idea of constructing a map from the task specifications to the gait pattern selections for a given environment model and performance objective(cost). We show that for a 2D half-cheetah model and a quadruped robot, a direct mapping between a given task and an optimal gait pattern can be established. We use supervised learning to capture the structure of this map in the form of gait regions.Furthermore, we also find that the trajectories in each gait region are qualitatively similar. We utilize this property to construct a warm-starting trajectory for each gait region, i.e., the mean of the trajectories discovered in each region. We empirically show that these warm-starting trajectories can improve the computation speed of our trajectory optimization problem up to 60 times when compared with random initial guesses. Moreover, we also conduct experimental trials on the ANYmal robot to validate our method
LIPIcs, Volume 274, ESA 2023, Complete Volume
LIPIcs, Volume 274, ESA 2023, Complete Volum
Smooth Distance Approximation
Traditional problems in computational geometry involve aspects that are both discrete and continuous. One such example is nearest-neighbor searching, where the input is discrete, but the result depends on distances, which vary continuously. In many real-world applications of geometric data structures, it is assumed that query results are continuous, free of jump discontinuities. This is at odds with many modern data structures in computational geometry, which employ approximations to achieve efficiency, but these approximations often suffer from discontinuities.
In this paper, we present a general method for transforming an approximate but discontinuous data structure into one that produces a smooth approximation, while matching the asymptotic space efficiencies of the original. We achieve this by adapting an approach called the partition-of-unity method, which smoothly blends multiple local approximations into a single smooth global approximation.
We illustrate the use of this technique in a specific application of approximating the distance to the boundary of a convex polytope in ?^d from any point in its interior. We begin by developing a novel data structure that efficiently computes an absolute ?-approximation to this query in time O(log (1/?)) using O(1/?^{d/2}) storage space. Then, we proceed to apply the proposed partition-of-unity blending to guarantee the smoothness of the approximate distance field, establishing optimal asymptotic bounds on the norms of its gradient and Hessian
- …