Learning Robust and Correct Controllers from Signal Temporal Logic Specifications Using BarrierNet

In this paper, we consider the problem of learning a neural network controller for a system required to satisfy a Signal Temporal Logic (STL) specification. We exploit STL quantitative semantics to define a notion of robust satisfaction. Guaranteeing the correctness of a neural network controller, i.e., ensuring the satisfaction of the specification by the controlled system, is a difficult problem that received a lot of attention recently. We provide a general procedure to construct a set of trainable High Order Control Barrier Functions (HOCBFs) enforcing the satisfaction of formulas in a fragment of STL. We use the BarrierNet, implemented by a differentiable Quadratic Program (dQP) with HOCBF constraints, as the last layer of the neural network controller, to guarantee the satisfaction of the STL formulas. We train the HOCBFs together with other neural network parameters to further improve the robustness of the controller. Simulation results demonstrate that our approach ensures satisfaction and outperforms existing algorithms.Comment: Submitted to CDC 202

Robust Multi-Agent Coordination from CaTL+ Specifications

We consider the problem of controlling a heterogeneous multi-agent system required to satisfy temporal logic requirements. Capability Temporal Logic (CaTL) was recently proposed to formalize such specifications for deploying a team of autonomous agents with different capabilities and cooperation requirements. In this paper, we extend CaTL to a new logic CaTL+, which is more expressive than CaTL and has semantics over a continuous workspace shared by all agents. We define two novel robustness metrics for CaTL+: the traditional robustness and the exponential robustness. The latter is sound, differentiable almost everywhere and eliminates masking, which is one of the main limitations of the traditional robustness metric. We formulate a control synthesis problem to maximize CaTL+ robustness and propose a two-step optimization method to solve this problem. Simulation results are included to illustrate the increased expressivity of CaTL+ and the efficacy of the proposed control synthesis approach.Comment: Submitted to ACC 202

Attack-resistant location estimation in wireless sensor networks

Many sensor network applications require sensors’ locations to function correctly. Despite the recent advances, location discovery for sensor networks in hostile environments has been mostly overlooked. Most of the existing localization protocols for sensor networks are vulnerable in hostile environments. The security of location discovery can certainly be enhanced by authentication. However, the possible node compromises and the fact that location determination uses certain physical features (e.g., received signal strength) of radio signals make authentication not as effective as in traditional security applications. This paper presents two methods to tolerate malicious attacks against range-based location discovery in sensor networks. The first method filters out malicious beacon signals on the basis of the “consistency” among multiple beacon signals, while the second method tolerates malicious beacon signals by adopting an iteratively refined voting scheme. Both methods can survive malicious attacks even if the attacks bypass authentication, provided that the benign beacon signals constitute the majority of the beacon signals. This paper also presents the implementation and experimental evaluation (through both field experiments and simulation) of all the secure and resilient location estimation schemes that can be used on the current generation of sensor platforms (e.g., MICA series of motes), including the techniques proposed in this paper, in a network of MICAz motes. The experimental results demonstrate the effectiveness of the proposed methods, and also give the secure and resilient location estimation scheme most suitable for the current generation of sensor networks

Structure selection and coordination in dual-channel supply chains

Purpose: This paper investigates the influence of channel structures and channel coordination on the supplier, the retailer, and the entire supply chain in the context of two different kinds of marketing models: the common retailer and the exclusive shop. Design/methodology/approach: With suppliers who manufacture the alternative commodities and retailers in the dual-channel supply chains as the object of the research, this paper compares suppliers' profits, consumer utility without coordination and contrasts suppliers' and retailers' profits with coordination to determine the range of the revenue sharing rates and which parameters are related. Findings: The analysis suggests the preference lists of the supplier and the retailer over channel structures with and without coordination are different, and depend on parameters like channel basic demand, channel cost and channel substitutability. Originality/value: In this research, new sales model for two suppliers should choose the same retailer or the exclusive retailers to sell their commodities.Peer Reviewe

Dynamic Spatial Sparsification for Efficient Vision Transformers and Convolutional Neural Networks

In this paper, we present a new approach for model acceleration by exploiting spatial sparsity in visual data. We observe that the final prediction in vision Transformers is only based on a subset of the most informative tokens, which is sufficient for accurate image recognition. Based on this observation, we propose a dynamic token sparsification framework to prune redundant tokens progressively and dynamically based on the input to accelerate vision Transformers. Specifically, we devise a lightweight prediction module to estimate the importance score of each token given the current features. The module is added to different layers to prune redundant tokens hierarchically. While the framework is inspired by our observation of the sparse attention in vision Transformers, we find the idea of adaptive and asymmetric computation can be a general solution for accelerating various architectures. We extend our method to hierarchical models including CNNs and hierarchical vision Transformers as well as more complex dense prediction tasks that require structured feature maps by formulating a more generic dynamic spatial sparsification framework with progressive sparsification and asymmetric computation for different spatial locations. By applying lightweight fast paths to less informative features and using more expressive slow paths to more important locations, we can maintain the structure of feature maps while significantly reducing the overall computations. Extensive experiments demonstrate the effectiveness of our framework on various modern architectures and different visual recognition tasks. Our results clearly demonstrate that dynamic spatial sparsification offers a new and more effective dimension for model acceleration. Code is available at https://github.com/raoyongming/DynamicViTComment: Accepted to T-PAMI. Journal version of our NeurIPS 2021 work: arXiv:2106.02034. Code is available at https://github.com/raoyongming/DynamicVi

Structure selection and coordination in dual-channel supply chains

Purpose: This paper investigates the influence of channel structures and channel coordination on the supplier, the retailer, and the entire supply chain in the context of two different kinds of marketing models: the common retailer and the exclusive shop. Design/methodology/approach: With suppliers who manufacture the alternative commodities and retailers in the dual-channel supply chains as the object of the research, this paper compares suppliers' profits, consumer utility without coordination and contrasts suppliers' and retailers' profits with coordination to determine the range of the revenue sharing rates and which parameters are related. Findings: The analysis suggests the preference lists of the supplier and the retailer over channel structures with and without coordination are different, and depend on parameters like channel basic demand, channel cost and channel substitutability. Originality/value: In this research, new sales model for two suppliers should choose the same retailer or the exclusive retailers to sell their commodities.Peer Reviewe