在本文中，我们提出了一个声学侧通道攻击，该攻击利用智能手机麦克风记录了操作中的机器人来利用声音的声学特性来指纹机器人的动作。在这项工作中，我们考虑了仅配备其智能手机麦克风的机器人系统（例如技术人员或机器人操作员）的物理接近（例如技术人员或机器人操作员）的可能性。通过声学侧渠道，我们证明，确实有可能不仅可以在3D空间内的单个机器人运动，而且还可以进行运动模式，这些运动模式可能导致运动的目的（即手术机器人正在进行的手术程序），因此导致潜在的侵犯隐私行为。经过评估，我们发现可以用大约75％的精度将单个机器人运动刻印出来，并以更细粒度的移动元数据（如距离和速度）稍微降低。此外，工作流程的整体精度约为62％，可以重建工作流程，并具有更复杂的动作，例如采摘或包装，以几乎完美的精度重建。除此之外，在某些环境（例如手术环境）中，可以通过VOIP记录和传输音频，例如教育/教学目的或远程远程医疗。这里的问题是，即使采用了VoIP通信，同一攻击也能否成功，并且数据包损耗如何影响捕获的音频和攻击的成功？使用智能手机捕获的普通音频的声音的相同特征，指纹识别VoIP样品的攻击准确性为90％，而没有使用VoIP编解码器的基线比基线高15％。这打开了有关匿名通信的新研究问题，以通过VoIP通信网络保护机器人系统免受声学侧渠道攻击。

连接的遥控机器人系统在确保以高度准确性和低误差范围进行操作工作流程中起着关键作用。近年来，已经提出了各种攻击，这些攻击是从网络领域积极针对机器人本身的。但是，很少关注被动攻击者的能力。在这项工作中，我们研究了内部对手是否可以通过射频侧通道准确地指纹机器人运动和操作仓库工作流程。使用SVM进行分类，我们发现对手可以至少具有96％精度的指纹单个机器人运动，在重建整个仓库工作流程时，可以提高到几乎完美的精度。

互联机器人在行业4.0中起关键作用，为许多工业工作流提供了自动化和更高的效率。不幸的是，这些机器人可以将有关这些操作工作流程的敏感信息泄漏到远程对手。尽管存在在此类设置中使用端到端加密进行数据传输的任务，但被动对手完全有可能进行指纹和重建整个工作流程 - 建立对设施运作方式的理解。在本文中，我们研究了远程攻击者是否可以准确地指纹机器人运动并最终重建操作工作流程。使用神经网络方法进行交通分析，我们发现可以预测精度约为60％的TLS加密运动，在现实的网络条件下提高到近乎完美的精度。此外，我们还发现攻击者可以以类似的成功重建仓库工作流。最终，简单地采用最佳网络安全实践显然不足以阻止（被动）对手。

高血压是心血管疾病的主要原因和过早死亡。不同的高血压亚型可能在其预后变化，并且需要不同的治疗方法。个人的高血压风险由遗传和环境因素以及它们的相互作用决定。在这项工作中，我们研究了911名非洲裔美国人和1171名欧洲美国人在高血压遗传流行病学网络（Hypergen）Cohort中。我们使用环境变量和基于不同标准选择的遗传功能组建造的高血压子类型分类模型。拟合模型提供了洞察高血压亚型的遗传景观，这可能有助于未来的个性化诊断和治疗高血压。

我们提出了一种估计具有标称分类数据的高维线性模型的方法。我们的估算器，称为范围，通过使其相应的系数完全相等来融合水平。这是通过对分类变量的系数的阶数统计之间的差异之间的差异来实现这一点，从而聚类系数。我们提供了一种算法，用于精确和有效地计算在具有潜在许多级别的单个变量的情况下的总体上的最小值的全局最小值，并且在多变量情况下在块坐标血管下降过程中使用它。我们表明，利用未知级别融合的Oracle最小二乘解决方案是具有高概率的坐标血缘的极限点，只要真正的级别具有一定的最小分离;已知这些条件在单变量案例中最小。我们展示了在一系列实际和模拟数据集中的范围的有利性能。 R包的R包Catreg实现线性模型的范围，也可以在CRAN上提供逻辑回归的版本。

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features into a single objective. If they try to do both at once from input designed to teach the full reward function, it is easy to end up with a representation that contains spurious correlations in the data, which fails to generalize to new settings. Instead, our ultimate goal is to enable robots to identify and isolate the causal features that people actually care about and use when they represent states and behavior. Our idea is that we can tune into this representation by asking users what behaviors they consider similar: behaviors will be similar if the features that matter are similar, even if low-level behavior is different; conversely, behaviors will be different if even one of the features that matter differs. This, in turn, is what enables the robot to disambiguate between what needs to go into the representation versus what is spurious, as well as what aspects of behavior can be compressed together versus not. The notion of learning representations based on similarity has a nice parallel in contrastive learning, a self-supervised representation learning technique that maps visually similar data points to similar embeddings, where similarity is defined by a designer through data augmentation heuristics. By contrast, in order to learn the representations that people use, so we can learn their preferences and objectives, we use their definition of similarity. In simulation as well as in a user study, we show that learning through such similarity queries leads to representations that, while far from perfect, are indeed more generalizable than self-supervised and task-input alternatives.

We address the problem of extracting key steps from unlabeled procedural videos, motivated by the potential of Augmented Reality (AR) headsets to revolutionize job training and performance. We decompose the problem into two steps: representation learning and key steps extraction. We employ self-supervised representation learning via a training strategy that adapts off-the-shelf video features using a temporal module. Training implements self-supervised learning losses involving multiple cues such as appearance, motion and pose trajectories extracted from videos to learn generalizable representations. Our method extracts key steps via a tunable algorithm that clusters the representations extracted from procedural videos. We quantitatively evaluate our approach with key step localization and also demonstrate the effectiveness of the extracted representations on related downstream tasks like phase classification. Qualitative results demonstrate that the extracted key steps are meaningful to succinctly represent the procedural tasks.

We consider the problem of estimating a multivariate function $f_0$ of bounded variation (BV), from noisy observations $y_i = f_0(x_i) + z_i$ made at random design points $x_i \in \mathbb{R}^d$, $i=1,\ldots,n$. We study an estimator that forms the Voronoi diagram of the design points, and then solves an optimization problem that regularizes according to a certain discrete notion of total variation (TV): the sum of weighted absolute differences of parameters $\theta_i,\theta_j$ (which estimate the function values $f_0(x_i),f_0(x_j)$) at all neighboring cells $i,j$ in the Voronoi diagram. This is seen to be equivalent to a variational optimization problem that regularizes according to the usual continuum (measure-theoretic) notion of TV, once we restrict the domain to functions that are piecewise constant over the Voronoi diagram. The regression estimator under consideration hence performs (shrunken) local averaging over adaptively formed unions of Voronoi cells, and we refer to it as the Voronoigram, following the ideas in Koenker (2005), and drawing inspiration from Tukey's regressogram (Tukey, 1961). Our contributions in this paper span both the conceptual and theoretical frontiers: we discuss some of the unique properties of the Voronoigram in comparison to TV-regularized estimators that use other graph-based discretizations; we derive the asymptotic limit of the Voronoi TV functional; and we prove that the Voronoigram is minimax rate optimal (up to log factors) for estimating BV functions that are essentially bounded.

In this work, we introduce a hypergraph representation learning framework called Hypergraph Neural Networks (HNN) that jointly learns hyperedge embeddings along with a set of hyperedge-dependent embeddings for each node in the hypergraph. HNN derives multiple embeddings per node in the hypergraph where each embedding for a node is dependent on a specific hyperedge of that node. Notably, HNN is accurate, data-efficient, flexible with many interchangeable components, and useful for a wide range of hypergraph learning tasks. We evaluate the effectiveness of the HNN framework for hyperedge prediction and hypergraph node classification. We find that HNN achieves an overall mean gain of 7.72% and 11.37% across all baseline models and graphs for hyperedge prediction and hypergraph node classification, respectively.

Graph Neural Networks (GNNs) have become increasingly important in recent years due to their state-of-the-art performance on many important downstream applications. Existing GNNs have mostly focused on learning a single node representation, despite that a node often exhibits polysemous behavior in different contexts. In this work, we develop a persona-based graph neural network framework called PersonaSAGE that learns multiple persona-based embeddings for each node in the graph. Such disentangled representations are more interpretable and useful than a single embedding. Furthermore, PersonaSAGE learns the appropriate set of persona embeddings for each node in the graph, and every node can have a different number of assigned persona embeddings. The framework is flexible enough and the general design helps in the wide applicability of the learned embeddings to suit the domain. We utilize publicly available benchmark datasets to evaluate our approach and against a variety of baselines. The experiments demonstrate the effectiveness of PersonaSAGE for a variety of important tasks including link prediction where we achieve an average gain of 15% while remaining competitive for node classification. Finally, we also demonstrate the utility of PersonaSAGE with a case study for personalized recommendation of different entity types in a data management platform.