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Current robot autonomy struggles to operate beyond the assumed Operational Design Domain (ODD), the specific set of conditions and environments in which the system is designed to function, while the real-world is rife with uncertainties that may lead to failures. Automating recovery remains a significant challenge. Traditional methods often rely on human intervention to manually address failures or require exhaustive enumeration of failure cases and the design of specific recovery policies for each scenario, both of which are labor-intensive. Foundational Vision-Language Models (VLMs), which demonstrate remarkable common-sense generalization and reasoning capabilities, have broader, potentially unbounded ODDs. However, limitations in spatial reasoning continue to be a common challenge for many VLMs when applied to robot control and motion-level error recovery. In this paper, we investigate how optimizing visual and text prompts can enhance the spatial reasoning of VLMs, enabling them to function effectively as black-box controllers for both motion-level position correction and task-level recovery from unknown failures. Specifically, the optimizations include identifying key visual elements in visual prompts, highlighting these elements in text prompts for querying, and decomposing the reasoning process for failure detection and control generation. In experiments, prompt optimizations significantly outperform pre-trained Vision-Language-Action Models in correcting motion-level position errors and improve accuracy by 65.78% compared to VLMs with unoptimized prompts. Additionally, for task-level failures, optimized prompts enhanced the success rate by 5.8%, 5.8%, and 7.5% in VLMs' abilities to detect failures, analyze issues, and generate recovery plans, respectively, across a wide range of unknown errors in Lego assembly.

Combinatorial assembly uses standardized unit primitives to build objects that satisfy user specifications. Lego is a widely used platform for combinatorial assembly, in which people use unit primitives (ie Lego bricks) to build highly customizable 3D objects. This paper studies sequence planning for physical combinatorial assembly using Lego. Given the shape of the desired object, we want to find a sequence of actions for placing Lego bricks to build the target object. In particular, we aim to ensure the planned assembly sequence is physically executable. However, assembly sequence planning (ASP) for combinatorial assembly is particularly challenging due to its combinatorial nature, ie the vast number of possible combinations and complex constraints. To address the challenges, we employ deep reinforcement learning to learn a construction policy for placing unit primitives sequentially to build the desired object. Specifically, we design an online physics-aware action mask that efficiently filters out invalid actions and guides policy learning. In the end, we demonstrate that the proposed method successfully plans physically valid assembly sequences for constructing different Lego structures. The generated construction plan can be executed in real.

Long-horizon planning is hindered by challenges such as uncertainty accumulation, computational complexity, delayed rewards and incomplete information. This work proposes an approach to exploit the task hierarchy from human instructions to facilitate multi-robot planning. Using Large Language Models (LLMs), we propose a two-step approach to translate multi-sentence instructions into a structured language, Hierarchical Linear Temporal Logic (LTL), which serves as a formal representation for planning. Initially, LLMs transform the instructions into a hierarchical representation defined as Hierarchical Task Tree, capturing the logical and temporal relations among tasks. Following this, a domain-specific fine-tuning of LLM translates sub-tasks of each task into flat LTL formulas, aggregating them to form hierarchical LTL specifications. These specifications are then leveraged for planning using off-the-shelf planners. Our framework not only bridges the gap between instructions and algorithmic planning but also showcases the potential of LLMs in harnessing hierarchical reasoning to automate multi-robot task planning. Through evaluations in both simulation and real-world experiments involving human participants, we demonstrate that our method can handle more complex instructions compared to existing methods. The results indicate that our approach achieves higher success rates and lower costs in multi-robot task allocation and plan generation. Demos videos are available at https://youtu.be/7WOrDKxIMIs .

The intrinsic magnetic order, large topological-magnetic gap and rich topological phases make MnBi2Te4 a wonderful platform to study exotic topological quantum states such as axion insulator and Chern insulator. To realize and manipulate these topological phases in a MnBi2Te4 thin film, precise manipulation of the electric field across the film is essential, which requires a dual-gate structure. In this work, we achieve dual-gate tuning of MnBi2Te4 thin films grown with molecular beam epitaxy on SrTiO3(111) substrates by applying the substrate and an AlOx layer as the gate dielectrics of bottom and top gates, respectively. Under magnetic field of 9T and temperature of 20 mK, the Hall and longitudinal resistivities of the films show inversed gate-voltage dependence, for both top- and bottom-gates, signifying the existence of the dissipationless edge state contributed by Chern insulator phase in the ferromagnetic configuration. The maximum of the Hall resistivity only reaches 0.8 h/e2, even with dual-gate tuning, probably due to the high density of bulk carriers introduced by secondary phases. In the antiferromagnetic state under zero magnetic field, the films show normal insulator behavior. The dual-gated MnBi2Te4 thin films lay the foundation for developing devices based on electrically tunable topological quantum states., Comment: 24 pages, 4 figures

Differentially Private Stochastic Gradients Descent (DP-SGD) is a prominent paradigm for preserving privacy in deep learning. It ensures privacy by perturbing gradients with random noise calibrated to their entire norm at each training step. However, this perturbation suffers from a sub-optimal performance: it repeatedly wastes privacy budget on the general converging direction shared among gradients from different batches, which we refer as common knowledge, yet yields little information gain. Motivated by this, we propose a differentially private training framework with early gradient decomposition and reconstruction (DPDR), which enables more efficient use of the privacy budget. In essence, it boosts model utility by focusing on incremental information protection and recycling the privatized common knowledge learned from previous gradients at early training steps. Concretely, DPDR incorporates three steps. First, it disentangles common knowledge and incremental information in current gradients by decomposing them based on previous noisy gradients. Second, most privacy budget is spent on protecting incremental information for higher information gain. Third, the model is updated with the gradient reconstructed from recycled common knowledge and noisy incremental information. Theoretical analysis and extensive experiments show that DPDR outperforms state-of-the-art baselines on both convergence rate and accuracy., Comment: 14 pages

Differentially Private Stochastic Gradient Descent (DPSGD) is widely utilized to preserve training data privacy in deep learning, which first clips the gradients to a predefined norm and then injects calibrated noise into the training procedure. Existing DPSGD works typically assume the gradients follow sub-Gaussian distributions and design various clipping mechanisms to optimize training performance. However, recent studies have shown that the gradients in deep learning exhibit a heavy-tail phenomenon, that is, the tails of the gradient have infinite variance, which may lead to excessive clipping loss to the gradients with existing DPSGD mechanisms. To address this problem, we propose a novel approach, Discriminative Clipping~(DC)-DPSGD, with two key designs. First, we introduce a subspace identification technique to distinguish between body and tail gradients. Second, we present a discriminative clipping mechanism that applies different clipping thresholds for body and tail gradients to reduce the clipping loss. Under the non-convex condition, \ourtech{} reduces the empirical gradient norm from {${\mathbb{O}\left(\log^{\max(0,\theta-1)}(T/\delta)\log^{2\theta}(\sqrt{T})\right)}$} to {${\mathbb{O}\left(\log(\sqrt{T})\right)}$} with heavy-tailed index $\theta\geq 1/2$, iterations $T$, and arbitrary probability $\delta$. Extensive experiments on four real-world datasets demonstrate that our approach outperforms three baselines by up to 9.72\% in terms of accuracy.

Although Split Federated Learning (SFL) is good at enabling knowledge sharing among resource-constrained clients, it suffers from the problem of low training accuracy due to the neglect of data heterogeneity and catastrophic forgetting. To address this issue, we propose a novel SFL approach named KoReA-SFL, which adopts a multi-model aggregation mechanism to alleviate gradient divergence caused by heterogeneous data and a knowledge replay strategy to deal with catastrophic forgetting. Specifically, in KoReA-SFL cloud servers (i.e., fed server and main server) maintain multiple branch model portions rather than a global portion for local training and an aggregated master-model portion for knowledge sharing among branch portions. To avoid catastrophic forgetting, the main server of KoReA-SFL selects multiple assistant devices for knowledge replay according to the training data distribution of each server-side branch-model portion. Experimental results obtained from non-IID and IID scenarios demonstrate that KoReA-SFL significantly outperforms conventional SFL methods (by up to 23.25\% test accuracy improvement).

Safety Index Synthesis (SIS) is critical for deriving safe control laws. Recent works propose to synthesize a safety index (SI) via nonlinear programming and derive a safe control law such that the system 1) achieves forward invariant (FI) with some safe set and 2) guarantees finite time convergence (FTC) to that safe set. However, real-world system dynamics can vary during run-time, making the control law infeasible and invalidating the initial SI. Since the full SIS nonlinear programming is computationally expensive, it is infeasible to re-synthesize the SI each time the dynamics are perturbed. To address that, this paper proposes an efficient approach to adapting the SI to varying system dynamics and maintaining the feasibility of the safe control law. The proposed method leverages determinant gradient ascend and derives a closed-form update to safety index parameters, enabling real-time adaptation performance. A numerical study validates the effectiveness of our approach., Comment: Accepted to American Control Conference (ACC) 2024

The pre-training and fine-tuning paradigm has demonstrated its effectiveness and has become the standard approach for tailoring language models to various tasks. Currently, community-based platforms offer easy access to various pre-trained models, as anyone can publish without strict validation processes. However, a released pre-trained model can be a privacy trap for fine-tuning datasets if it is carefully designed. In this work, we propose PreCurious framework to reveal the new attack surface where the attacker releases the pre-trained model and gets a black-box access to the final fine-tuned model. PreCurious aims to escalate the general privacy risk of both membership inference and data extraction on the fine-tuning dataset. The key intuition behind PreCurious is to manipulate the memorization stage of the pre-trained model and guide fine-tuning with a seemingly legitimate configuration. While empirical and theoretical evidence suggests that parameter-efficient and differentially private fine-tuning techniques can defend against privacy attacks on a fine-tuned model, PreCurious demonstrates the possibility of breaking up this invulnerability in a stealthy manner compared to fine-tuning on a benign pre-trained model. While DP provides some mitigation for membership inference attack, by further leveraging a sanitized dataset, PreCurious demonstrates potential vulnerabilities for targeted data extraction even under differentially private tuning with a strict privacy budget e.g. $\epsilon=0.05$. Thus, PreCurious raises warnings for users on the potential risks of downloading pre-trained models from unknown sources, relying solely on tutorials or common-sense defenses, and releasing sanitized datasets even after perfect scrubbing., Comment: 15 pages

We consider a quasi-Bayesian method that combines a frequentist estimation in the first stage and a Bayesian estimation/inference approach in the second stage. The study is motivated by structural discrete choice models that use the control function methodology to correct for endogeneity bias. In this scenario, the first stage estimates the control function using some frequentist parametric or nonparametric approach. The structural equation in the second stage, associated with certain complicated likelihood functions, can be more conveniently dealt with using a Bayesian approach. This paper studies the asymptotic properties of the quasi-posterior distributions obtained from the second stage. We prove that the corresponding quasi-Bayesian credible set does not have the desired coverage in large samples. Nonetheless, the quasi-Bayesian point estimator remains consistent and is asymptotically equivalent to a frequentist two-stage estimator. We show that one can obtain valid inference by bootstrapping the quasi-posterior that takes into account the first-stage estimation uncertainty.

Recent advancements in robotics enable robots to accomplish complex assembly tasks. However, designing an assembly requires a non-trivial effort since a slight variation in the design could significantly affect the task feasibility. It is critical to ensure the physical feasibility of the assembly design so that the assembly task can be successfully executed. To address the challenge, this paper studies the physical stability of assembly structures, in particular, block stacking assembly, where people use cubic blocks to build 3D structures (e.g., Lego constructions). The paper proposes a new optimization formulation, which optimizes over force balancing equations, for inferring the structural stability of 3D block-stacking structures. The proposed stability analysis is tested and verified on hand-crafted Lego examples. The experiment results demonstrate that the proposed stability analysis can correctly predict whether the structure is stable. In addition, it outperforms the existing methods since it can locate the weakest parts in the design, and more importantly, solve any given assembly structure. To further validate the proposed analysis formulation, we provide StableLego: a comprehensive dataset including more than 50k 3D objects with their Lego layouts. We test the proposed stability analysis and include the stability inference for each corresponding object in StableLego. Our code and the dataset are available at https://github.com/intelligent-control-lab/StableLego.

We use magnetic force microscopy (MFM) to study spatial uniformity of magnetization of epitaxially grown MnBi2Te4 thin films. Compared to films which exhibit no quantum anomalous Hall effect (QAH), films with QAH are observed to have more spatial uniformity of magnetization with larger domain size. The domain evolution upon magnetic field sweeping indicates that the magnetic domains or the spatial nonuniformity of magnetization originates from the strong pinning of the inherent sample inhomogeneity. A direct correlation between the Hall resistivity and the domain size has been established by analyzing a series of thin films with and without QAH. Our observation shows that one has to suppress the spatial nonuniformity of magnetization to allow the Hall resistivity to be quantized. The fact that a sizable longitudinal resistivity remains even for the QAH sample suggests a quantized Hall insulator scenario. Our work provides important insights to the understanding of the quantization mechanism and the dissipation of the QAH state in MnBi2Te4 system., Comment: 14 pages, 4 figures

In this study, we investigate intrinsic magnetic topological insulator MnBi2Te4 thin films grown by molecular beam epitaxy. We observe a reentrant quantum anomalous Hall effect when the Fermi energy enters the valance band and magnetic field equals zero, indicating the emergence of the Chern Anderson insulator state. The discovery opens a new avenue for realizing the QAH effect and underscores the fundamental role of both Berry curvature and Anderson localization., Comment: 15 pages, 4 figures

The paradigm of Differentially Private SGD~(DP-SGD) can provide a theoretical guarantee for training data in both centralized and federated settings. However, the utility degradation caused by DP-SGD limits its wide application in high-stakes tasks, such as medical image diagnosis. In addition to the necessary perturbation, the convergence issue is attributed to the information loss on the gradient clipping. In this work, we propose a general framework PCDP-SGD, which aims to compress redundant gradient norms and preserve more crucial top gradient components via projection operation before gradient clipping. Additionally, we extend PCDP-SGD as a fundamental component in differential privacy federated learning~(DPFL) for mitigating the data heterogeneous challenge and achieving efficient communication. We prove that pre-projection enhances the convergence of DP-SGD by reducing the dependence of clipping error and bias to a fraction of the top gradient eigenspace, and in theory, limits cross-client variance to improve the convergence under heterogeneous federation. Experimental results demonstrate that PCDP-SGD achieves higher accuracy compared with state-of-the-art DP-SGD variants in computer vision tasks. Moreover, PCDP-SGD outperforms current federated learning frameworks when DP is guaranteed on local training sets.

Federated Learning (FL) enables collaborative learning of large-scale distributed clients without data sharing. However, due to the disparity of computing resources among massive mobile computing devices, the performance of traditional homogeneous model-based Federated Learning (FL) is seriously limited. On the one hand, to achieve model training in all the diverse clients, mobile computing systems can only use small low-performance models for collaborative learning. On the other hand, devices with high computing resources cannot train a high-performance large model with their insufficient raw data. To address the resource-constrained problem in mobile computing systems, we present a novel heterogeneous FL approach named AdapterFL, which uses a model reassemble strategy to facilitate collaborative training of massive heterogeneous mobile devices adaptively. Specifically, we select multiple candidate heterogeneous models based on the computing performance of massive mobile devices and then divide each heterogeneous model into two partitions. By reassembling the partitions, we can generate models with varied sizes that are combined by the partial parameters of the large model with the partial parameters of the small model. Using these reassembled models for FL training, we can train the partial parameters of the large model using low-performance devices. In this way, we can alleviate performance degradation in large models due to resource constraints. The experimental results show that AdapterFL can achieve up to 12\% accuracy improvement compared to the state-of-the-art heterogeneous federated learning methods in resource-constrained scenarios.

Deep learning using large models have achieved great success in a wide range of domains. However, training these models on billions of parameters is very challenging in terms of the training speed, memory cost, and communication efficiency, especially under the privacy-preserving regime with differential privacy (DP). On the one hand, DP optimization has comparable efficiency to the standard non-private optimization on a single GPU, but on multiple GPUs, existing DP distributed learning (such as pipeline parallel) has suffered from significantly worse efficiency. On the other hand, the Zero Redundancy Optimizer (ZeRO) is a state-of-the-art solution to the standard distributed learning, exhibiting excellent training efficiency on large models, but to work compatibly with DP is technically complicated. In this work, we develop a new systematic solution, DP-ZeRO, (I) to scale up the trainable DP model size, e.g. to GPT-100B, (II) to obtain the same computation and communication efficiency as the standard ZeRO, and (III) to enable mixed-precision DP training. Our DP-ZeRO, like the standard ZeRO, has the potential to train models with arbitrary size and is evaluated on the world's largest DP models in terms of the number of trainable parameters.

Recent advances have substantially improved the accuracy, memory cost, and training speed of differentially private (DP) deep learning, especially on large vision and language models with millions to billions of parameters. In this work, we thoroughly study the per-sample gradient clipping style, a key component in DP optimization. We show that different clipping styles have the same time complexity but instantiate an accuracy-memory trade-off: while the all-layer clipping (of coarse granularity) is the most prevalent and usually gives the best accuracy, it incurs heavier memory cost compared to other group-wise clipping, such as the layer-wise clipping (of finer granularity). We formalize this trade-off through our convergence theory and complexity analysis. Importantly, we demonstrate that the accuracy gap between group-wise clipping and all-layer clipping becomes smaller for larger models, while the memory advantage of the group-wise clipping remains. Consequently, the group-wise clipping allows DP optimization of large models to achieve high accuracy and low peak memory simultaneously.

The success of large neural networks is crucially determined by the availability of data. It has been observed that training only on a small amount of public data, or privately on the abundant private data can lead to undesirable degradation of accuracy. In this work, we leverage both private and public data to improve the optimization, by coupling their gradients via a weighted linear combination. We formulate an optimal solution for the optimal weight in the convex setting to indicate that the weighting coefficient should be hyperparameter-dependent. Then, we prove the acceleration in the convergence of non-convex loss and the effects of hyper-parameters such as privacy budget, number of iterations, batch size, and model size on the choice of the weighting coefficient. We support our analysis with empirical experiments across language and vision benchmarks, and provide a guideline for choosing the optimal weight of the gradient coupling., Comment: 12 pages

Recent advancements in manufacturing have a growing demand for fast, automatic prototyping (i.e. assembly and disassembly) capabilities to meet users' needs. This paper studies automatic rapid LEGO prototyping, which is devoted to constructing target LEGO objects that satisfy individual customization needs and allow users to freely construct their novel designs. A construction plan is needed in order to automatically construct the user-specified LEGO design. However, a freely designed LEGO object might not have an existing construction plan, and generating such a LEGO construction plan requires a non-trivial effort since it requires accounting for numerous constraints (e.g. object shape, colors, stability, etc.). In addition, programming the prototyping skill for the robot requires the users to have expert programming skills, which makes the task beyond the reach of the general public. To address the challenges, this paper presents a simulation-aided learning from demonstration (SaLfD) framework for easily deploying LEGO prototyping capability to robots. In particular, the user demonstrates constructing the customized novel LEGO object. The robot extracts the task information by observing the human operation and generates the construction plan. A simulation is developed to verify the correctness of the learned construction plan and the resulting LEGO prototype. The proposed system is deployed to a FANUC LR-mate 200id/7L robot. Experiments demonstrate that the proposed SaLfD framework can effectively correct and learn the prototyping (i.e. assembly and disassembly) tasks from human demonstrations. And the learned prototyping tasks are realized by the FANUC robot.

The SoccerNet 2023 challenges were the third annual video understanding challenges organized by the SoccerNet team. For this third edition, the challenges were composed of seven vision-based tasks split into three main themes. The first theme, broadcast video understanding, is composed of three high-level tasks related to describing events occurring in the video broadcasts: (1) action spotting, focusing on retrieving all timestamps related to global actions in soccer, (2) ball action spotting, focusing on retrieving all timestamps related to the soccer ball change of state, and (3) dense video captioning, focusing on describing the broadcast with natural language and anchored timestamps. The second theme, field understanding, relates to the single task of (4) camera calibration, focusing on retrieving the intrinsic and extrinsic camera parameters from images. The third and last theme, player understanding, is composed of three low-level tasks related to extracting information about the players: (5) re-identification, focusing on retrieving the same players across multiple views, (6) multiple object tracking, focusing on tracking players and the ball through unedited video streams, and (7) jersey number recognition, focusing on recognizing the jersey number of players from tracklets. Compared to the previous editions of the SoccerNet challenges, tasks (2-3-7) are novel, including new annotations and data, task (4) was enhanced with more data and annotations, and task (6) now focuses on end-to-end approaches. More information on the tasks, challenges, and leaderboards are available on https://www.soccer-net.org. Baselines and development kits can be found on https://github.com/SoccerNet.

Lego is a well-known platform for prototyping pixelized objects. However, robotic Lego prototyping (i.e., manipulating Lego bricks) is challenging due to the tight connections and accuracy requirements. This paper investigates safe and efficient robotic Lego manipulation. In particular, this paper reduces the complexity of the manipulation by hardware-software co-design. An end-of-arm tool (EOAT) is designed, which reduces the problem dimension and allows large industrial robots to manipulate small Lego bricks. In addition, this paper uses evolution strategy to optimize the robot motion for Lego manipulation. Experiments demonstrate that the EOAT can reliably manipulate Lego bricks and the learning framework can effectively and safely improve the manipulation performance to a 100% success rate. The co-design is deployed to multiple robots (i.e., FANUC LR-mate 200id/7L and Yaskawa GP4) to demonstrate its generalizability and transferability. In the end, we show that the proposed solution enables sustainable robotic Lego prototyping, in which the robot can repeatedly assemble and disassemble different prototypes.

Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexity, LTL formulas unavoidably grow lengthy, complicating interpretation and specification generation, and straining the computational capacities of the planners. A recent development has been the hierarchical representation of LTL~\cite{luo2024simultaneous} that contains multiple temporal logic specifications, providing a more interpretable framework. However, the proposed planning algorithm assumes the independence of robots within each specification, limiting their application to multi-robot coordination with complex temporal constraints. In this work, we formulated a decomposition-based hierarchical framework. At the high level, each specification is first decomposed into a set of atomic sub-tasks. We further infer the temporal relations among the sub-tasks of different specifications to construct a task network. Subsequently, a Mixed Integer Linear Program is used to assign sub-tasks to various robots. At the lower level, domain-specific controllers are employed to execute sub-tasks. Our approach was experimentally applied to domains of navigation and manipulation. The simulation demonstrated that our approach can find better solutions using less runtimes., Comment: 10 pages, 6 figures. Accepted by IEEE Robotics and Automation Letters (extended version)

Human-robot collaboration (HRC) is one key component to achieving flexible manufacturing to meet the different needs of customers. However, it is difficult to build intelligent robots that can proactively assist humans in a safe and efficient way due to several challenges. First, it is challenging to achieve efficient collaboration due to diverse human behaviors and data scarcity. Second, it is difficult to ensure interactive safety due to uncertainty in human behaviors. This paper presents an integrated framework for proactive HRC. A robust intention prediction module, which leverages prior task information and human-in-the-loop training, is learned to guide the robot for efficient collaboration. The proposed framework also uses robust safe control to ensure interactive safety under uncertainty. The developed framework is applied to a co-assembly task using a Kinova Gen3 robot. The experiment demonstrates that our solution is robust to environmental changes as well as different human preferences and behaviors. In addition, it improves task efficiency by approximately 15-20%. Moreover, the experiment demonstrates that our solution can guarantee interactive safety during proactive collaboration., Comment: 7th IEEE Conference on Control Technology and Applications (CCTA 2023)

This paper studies automatic prototyping using LEGO. To satisfy individual needs and self-sustainability, this paper presents a framework that learns the assembly and disassembly sequences from human demonstrations. In addition, a digital twin is developed to verify the correctness of robot learning before deploying to the real world. Moreover, an end-effector tool (EOT) is designed, which allows large industrial robots to easily manipulate LEGO bricks. The proposed system is deployed to a FANUC LR-mate 200id/7L robot. Experiments demonstrate that the proposed system can effectively learn the assembly and disassembly tasks from human demonstrations. And the learned tasks are realized by the FANUC robot.

Due to the trial-and-error nature, it is typically challenging to apply RL algorithms to safety-critical real-world applications, such as autonomous driving, human-robot interaction, robot manipulation, etc, where such errors are not tolerable. Recently, safe RL (i.e. constrained RL) has emerged rapidly in the literature, in which the agents explore the environment while satisfying constraints. Due to the diversity of algorithms and tasks, it remains difficult to compare existing safe RL algorithms. To fill that gap, we introduce GUARD, a Generalized Unified SAfe Reinforcement Learning Development Benchmark. GUARD has several advantages compared to existing benchmarks. First, GUARD is a generalized benchmark with a wide variety of RL agents, tasks, and safety constraint specifications. Second, GUARD comprehensively covers state-of-the-art safe RL algorithms with self-contained implementations. Third, GUARD is highly customizable in tasks and algorithms. We present a comparison of state-of-the-art safe RL algorithms in various task settings using GUARD and establish baselines that future work can build on.

Safety is critical in robotic tasks. Energy function based methods have been introduced to address the problem. To ensure safety in the presence of control limits, we need to design an energy function that results in persistently feasible safe control at all system states. However, designing such an energy function for high-dimensional nonlinear systems remains challenging. Considering the fact that there are redundant dynamics in high dimensional systems with respect to the safety specifications, this paper proposes a novel approach called abstract safe control. We propose a system abstraction method that enables the design of energy functions on a low-dimensional model. Then we can synthesize the energy function with respect to the low-dimensional model to ensure persistent feasibility. The resulting safe controller can be directly transferred to other systems with the same abstraction, e.g., when a robot arm holds different tools. The proposed approach is demonstrated on a 7-DoF robot arm (14 states) both in simulation and real-world. Our method always finds feasible control and achieves zero safety violations in 500 trials on 5 different systems.

We propose a double robust Bayesian inference procedure on the average treatment effect (ATE) under unconfoundedness. Our robust Bayesian approach involves two important modifications: first, we adjust the prior distributions of the conditional mean function; second, we correct the posterior distribution of the resulting ATE. Both adjustments make use of pilot estimators motivated by the semiparametric influence function for ATE estimation. We prove asymptotic equivalence of our Bayesian procedure and efficient frequentist ATE estimators by establishing a new semiparametric Bernstein-von Mises theorem under double robustness; i.e., the lack of smoothness of conditional mean functions can be compensated by high regularity of the propensity score and vice versa. Consequently, the resulting Bayesian credible sets form confidence intervals with asymptotically exact coverage probability. In simulations, our double robust Bayesian procedure leads to significant bias reduction of point estimation over conventional Bayesian methods and more accurate coverage of confidence intervals compared to existing frequentist methods. We illustrate our method in an application to the National Supported Work Demonstration.

Human-robot interaction (HRI) is an important component to improve the flexibility of modern production lines. However, in real-world applications, the task (\ie the conditions that the robot needs to operate on, such as the environmental lighting condition, the human subjects to interact with, and the hardware platforms) may vary and it remains challenging to optimally and efficiently configure and adapt the robotic system under these changing tasks. To address the challenge, this paper proposes a task-agnostic adaptable controller that can 1) adapt to different lighting conditions, 2) adapt to individual behaviors and ensure safety when interacting with different humans, and 3) enable easy transfer across robot platforms with different control interfaces. The proposed framework is tested on a human-robot handover task using the FANUC LR Mate 200id/7L robot and the Kinova Gen3 robot. Experiments show that the proposed task-agnostic controller can achieve consistent performance across different tasks.

The intrinsic magnetic topological insulator MnBi2Te4 provides a feasible pathway to high temperature quantum anomalous Hall (QAH) effect as well as various novel topological quantum phases. Although quantized transport properties have been observed in exfoliated MnBi2Te4 thin flakes, it remains a big challenge to achieve molecular beam epitaxy (MBE)-grown MnBi2Te4 thin films even close to the quantized regime. In this work, we report the realization of quantized anomalous Hall resistivity in MBE-grown MnBi2Te4 thin films with the chemical potential tuned by both controlled in-situ oxygen exposure and top gating. We find that elongated post-annealing obviously elevates the temperature to achieve quantization of the Hall resistivity, but also increases the residual longitudinal resistivity, indicating a picture of high-quality QAH puddles weakly coupled by tunnel barriers. These results help to clarify the puzzles in previous experimental studies on MnBi2Te4 and to find a way out of the big difficulty in obtaining MnBi2Te4 samples showing quantized transport properties., Comment: 4 figures

Collecting and training over sensitive personal data raise severe privacy concerns in personalized recommendation systems, and federated learning can potentially alleviate the problem by training models over decentralized user data.However, a theoretically private solution in both the training and serving stages of federated recommendation is essential but still lacking.Furthermore, naively applying differential privacy (DP) to the two stages in federated recommendation would fail to achieve a satisfactory trade-off between privacy and utility due to the high-dimensional characteristics of model gradients and hidden representations.In this work, we propose a federated news recommendation method for achieving a better utility in model training and online serving under a DP guarantee.We first clarify the DP definition over behavior data for each round in the life-circle of federated recommendation systems.Next, we propose a privacy-preserving online serving mechanism under this definition based on the idea of decomposing user embeddings with public basic vectors and perturbing the lower-dimensional combination coefficients. We apply a random behavior padding mechanism to reduce the required noise intensity for better utility. Besides, we design a federated recommendation model training method, which can generate effective and public basic vectors for serving while providing DP for training participants. We avoid the dimension-dependent noise for large models via label permutation and differentially private attention modules. Experiments on real-world news recommendation datasets validate that our method achieves superior utility under a DP guarantee in both training and serving of federated news recommendations.

The need to increase the flexibility of production lines is calling for robots to collaborate with human workers. However, existing interactive industrial robots only guarantee intrinsic safety (reduce collision impact), but not interactive safety (collision avoidance), which greatly limited their flexibility. The issue arises from two limitations in existing control software for industrial robots: 1) lack of support for real-time trajectory modification; 2) lack of intelligent safe control algorithms with guaranteed collision avoidance under robot dynamics constraints. To address the first issue, a jerk-bounded position controller (JPC) was developed previously. This paper addresses the second limitation, on top of the JPC. Specifically, we introduce a jerk-based safe set algorithm (JSSA) to ensure collision avoidance while considering the robot dynamics constraints. The JSSA greatly extends the scope of the original safe set algorithm, which has only been applied for second-order systems with unbounded accelerations. The JSSA is implemented on the FANUC LR Mate 200id/7L robot and validated with HRI tasks. Experiments show that the JSSA can consistently keep the robot at a safe distance from the human while executing the designated task.

Local differential privacy (LDP), a technique applying unbiased statistical estimations instead of real data, is often adopted in data collection. In particular, this technique is used with frequency oracles (FO) because it can protect each user's privacy and prevent leakage of sensitive information. However, the definition of LDP is so conservative that it requires all inputs to be indistinguishable after perturbation. Indeed, LDP protects each value; however, it is rarely used in practical scenarios owing to its cost in terms of accuracy. In this paper, we address the challenge of providing weakened but flexible protection where each value only needs to be indistinguishable from part of the domain after perturbation. First, we present this weakened but flexible LDP (FLDP) notion. We then prove the association with LDP and DP. Second, we design an FHR approach for the common FO issue while satisfying FLDP. The proposed approach balances communication cost, computational complexity, and estimation accuracy. Finally, experimental results using practical and synthetic datasets verify the effectiveness and efficiency of our approach., Comment: 25pages, 5 figures, This is the proper field for the extended version of ICASSP conference

Federated learning (FL) is an important paradigm for training global models from decentralized data in a privacy-preserving way. Existing FL methods usually assume the global model can be trained on any participating client. However, in real applications, the devices of clients are usually heterogeneous, and have different computing power. Although big models like BERT have achieved huge success in AI, it is difficult to apply them to heterogeneous FL with weak clients. The straightforward solutions like removing the weak clients or using a small model to fit all clients will lead to some problems, such as under-representation of dropped clients and inferior accuracy due to data loss or limited model representation ability. In this work, we propose InclusiveFL, a client-inclusive federated learning method to handle this problem. The core idea of InclusiveFL is to assign models of different sizes to clients with different computing capabilities, bigger models for powerful clients and smaller ones for weak clients. We also propose an effective method to share the knowledge among multiple local models with different sizes. In this way, all the clients can participate in the model learning in FL, and the final model can be big and powerful enough. Besides, we propose a momentum knowledge distillation method to better transfer knowledge in big models on powerful clients to the small models on weak clients. Extensive experiments on many real-world benchmark datasets demonstrate the effectiveness of the proposed method in learning accurate models from clients with heterogeneous devices under the FL framework., Comment: Accepted by KDD22

News recommendation is critical for personalized news access. Most existing news recommendation methods rely on centralized storage of users' historical news click behavior data, which may lead to privacy concerns and hazards. Federated Learning is a privacy-preserving framework for multiple clients to collaboratively train models without sharing their private data. However, the computation and communication cost of directly learning many existing news recommendation models in a federated way are unacceptable for user clients. In this paper, we propose an efficient federated learning framework for privacy-preserving news recommendation. Instead of training and communicating the whole model, we decompose the news recommendation model into a large news model maintained in the server and a light-weight user model shared on both server and clients, where news representations and user model are communicated between server and clients. More specifically, the clients request the user model and news representations from the server, and send their locally computed gradients to the server for aggregation. The server updates its global user model with the aggregated gradients, and further updates its news model to infer updated news representations. Since the local gradients may contain private information, we propose a secure aggregation method to aggregate gradients in a privacy-preserving way. Experiments on two real-world datasets show that our method can reduce the computation and communication cost on clients while keep promising model performance.

Predicting human intention is critical to facilitating safe and efficient human-robot collaboration (HRC). However, it is challenging to build data-driven models for human intention prediction. One major challenge is due to the diversity and noise in human motion data. It is expensive to collect a massive motion dataset that comprehensively covers all possible scenarios, which leads to the scarcity of human motion data in certain scenarios, and therefore, causes difficulties in constructing robust and reliable intention predictors. To address the challenge, this paper proposes an iterative adversarial data augmentation (IADA) framework to learn neural network models from an insufficient amount of training data. The method uses neural network verification to identify the most "confusing" input samples and leverages expert guidance to safely and iteratively augment the training data with these samples. The proposed framework is applied to collected human datasets. The experiments demonstrate that our method can achieve more robust and accurate prediction performance compared to existing training methods., Comment: ICML 2021 Workshop of Human in the Loop Learning

Federated Learning (FL) is a promising machine learning paradigm that enables the analyzer to train a model without collecting users' raw data. To ensure users' privacy, differentially private federated learning has been intensively studied. The existing works are mainly based on the \textit{curator model} or \textit{local model} of differential privacy. However, both of them have pros and cons. The curator model allows greater accuracy but requires a trusted analyzer. In the local model where users randomize local data before sending them to the analyzer, a trusted analyzer is not required but the accuracy is limited. In this work, by leveraging the \textit{privacy amplification} effect in the recently proposed shuffle model of differential privacy, we achieve the best of two worlds, i.e., accuracy in the curator model and strong privacy without relying on any trusted party. We first propose an FL framework in the shuffle model and a simple protocol (SS-Simple) extended from existing work. We find that SS-Simple only provides an insufficient privacy amplification effect in FL since the dimension of the model parameter is quite large. To solve this challenge, we propose an enhanced protocol (SS-Double) to increase the privacy amplification effect by subsampling. Furthermore, for boosting the utility when the model size is greater than the user population, we propose an advanced protocol (SS-Topk) with gradient sparsification techniques. We also provide theoretical analysis and numerical evaluations of the privacy amplification of the proposed protocols. Experiments on real-world dataset validate that SS-Topk improves the testing accuracy by 60.7\% than the local model based FL., Comment: accepted by AAAI-21

As massive data are produced from small gadgets, federated learning on mobile devices has become an emerging trend. In the federated setting, Stochastic Gradient Descent (SGD) has been widely used in federated learning for various machine learning models. To prevent privacy leakages from gradients that are calculated on users' sensitive data, local differential privacy (LDP) has been considered as a privacy guarantee in federated SGD recently. However, the existing solutions have a dimension dependency problem: the injected noise is substantially proportional to the dimension $d$. In this work, we propose a two-stage framework FedSel for federated SGD under LDP to relieve this problem. Our key idea is that not all dimensions are equally important so that we privately select Top-k dimensions according to their contributions in each iteration of federated SGD. Specifically, we propose three private dimension selection mechanisms and adapt the gradient accumulation technique to stabilize the learning process with noisy updates. We also theoretically analyze privacy, accuracy and time complexity of FedSel, which outperforms the state-of-the-art solutions. Experiments on real-world and synthetic datasets verify the effectiveness and efficiency of our framework., Comment: 18 pages, to be published in DASFAA 2020