Millimeter Wave Wireless Assisted Robot Navigation with Link State Classification

The millimeter wave (mmWave) bands have attracted considerable attention for high precision localization applications due to the ability to capture high angular and temporal resolution measurements. This paper explores mmWave-based positioning for a target localization problem where a fixed target broadcasts mmWave signals and a mobile robotic agent attempts to listen to the signals to locate and navigate to the target. A three strage procedure is proposed: First, the mobile agent uses tensor decomposition methods to detect the wireless paths and their angles. Second, a machine-learning trained classifier is then used to predict the link state, meaning if the strongest path is line-of-sight (LOS) or non-LOS (NLOS). For the NLOS case, the link state predictor also determines if the strongest path arrived via one or more reflections. Third, based on the link state, the agent either follows the estimated angles or explores the environment. The method is demonstrated on a large dataset of indoor environments supplemented with ray tracing to simulate the wireless propagation. The path estimation and link state classification are also integrated into a state-ofthe-art neural simultaneous localization and mapping (SLAM) module to augment camera and LIDAR-based navigation. It is shown that the link state classifier can successfully generalize to completely new environments outside the training set. In addition, the neural-SLAM module with the wireless path estimation and link state classifier provides rapid navigation to the target, close to a baseline that knows the target location.

On Evaluating Neural Network Backdoor Defenses

Deep neural networks (DNNs) demonstrate superior performance in various fields, including scrutiny and security. However, recent studies have shown that DNNs are vulnerable to backdoor attacks. Several defenses were proposed in the past to defend DNNs against such backdoor attacks. In this work, we conduct a critical analysis and identify common pitfalls in these existing defenses, prepare a comprehensive database of backdoor attacks, conduct a side-by-side evaluation of existing defenses against this database. Finally, we layout some general guidelines to help researchers develop more robust defenses in the future and avoid common mistakes from the past.

CryptoNAS: Private Inference on a ReLU Budget

Machine learning as a service has given raise to privacy concerns surrounding clients' data and providers' models and has catalyzed research in private inference (PI): methods to process inferences without disclosing inputs. Recently, researchers have adapted cryptographic techniques to show PI is possible, however all solutions increase inference latency beyond practical limits. This paper makes the observation that existing models are ill-suited for PI and proposes a novel NAS method, named CryptoNAS, for finding and tailoring models to the needs of PI. The key insight is that in PI operator latency cost are non-linear operations (e.g., ReLU) dominate latency, while linear layers become effectively free. We develop the idea of a ReLU budget as a proxy for inference latency and use CryptoNAS to build models that maximize accuracy within a given budget. CryptoNAS improves accuracy by 3.4% and latency by 2.4x over the state-of-the-art.