Recent works have demonstrated the vulnerability of Deep Reinforcement Learning (DRL) algorithms against training-time, backdoor poisoning attacks. These attacks induce pre-determined, adversarial behavior in the agent upon observing a fixed trigger during deployment while allowing the agent to solve its intended task during training. Prior attacks rely on arbitrarily large perturbations to the agent's rewards to achieve both of these objectives - leaving them open to detection. Thus, in this work, we propose a new class of backdoor attacks against DRL which achieve state of the art performance while minimally altering the agent's rewards. These "inception" attacks train the agent to associate the targeted adversarial behavior with high returns by inducing a disjunction between the agent's chosen action and the true action executed in the environment during training. We formally define these attacks and prove they can achieve both adversarial objectives. We then devise an online inception attack which significantly out-performs prior attacks under bounded reward constraints.

Statistical inference tasks, such as constructing confidence regions or simultaneous confidence intervals, are often addressed by deriving distributional theory such as central limit theorems (CLTs) for the estimator in use. Due to the high dimensionality of modern science and engineering applications, there has been a surge of interests in deriving convergence results that are valid in a finite-sample manner. In Reinforcement Learning (RL), a discipline that underpins many recent machine learning breakthroughs (Agarwal et al. (2019); Sutton and Barto (2018)) one central question is to evaluate with confidence the quality of a given policy, measured by its value function. As RL is often modeled as decision making in Markov decision processes (MDPs), the task of statistical inference needs to accommodate the online nature of the sampling mechanism. Temporal Difference (TD) learning (Sutton (1988)) is arguably the most widely used algorithm designed for this purpose. TD learning, which is an instance of stochastic approximation (SA) method (Robbins and Monro (1951)), approximates the value function of a given policy in an iterative manner. Towards understanding the non-asymptotic convergence rate of TD to the target value function, extensive recent efforts have been made (see, e.g.

--Wireless Human-Machine Collaboration (WHMC) represents a critical advancement for Industry 5.0, enabling seamless interaction between humans and machines across geographically distributed systems. As the WHMC systems become increasingly important for achieving complex collaborative control tasks, ensuring their stability is essential for practical deployment and long-term operation. Stability analysis certifies how the closed-loop system will behave under model randomness, which is essential for systems operating with wireless communications. However, the fundamental stability analysis of the WHMC systems remains an unexplored challenge due to the intricate interplay between the stochastic nature of wireless communications, dynamic human operations, and the inherent complexities of control system dynamics. This paper establishes a fundamental WHMC model incorporating dual wireless loops for machine and human control. Our framework accounts for practical factors such as short-packet transmissions, fading channels, and advanced HARQ schemes. We model human control lag as a Markov process, which is crucial for capturing the stochastic nature of human interactions. Building on this model, we propose a stochastic cycle-cost-based approach to derive a stability condition for the WHMC system, expressed in terms of wireless channel statistics, human dynamics, and control parameters. Our findings are validated through extensive numerical simulations and a proof-of-concept experiment, where we developed and tested a novel wireless collaborative cart-pole control system. The results confirm the effectiveness of our approach and provide a robust framework for future research on WHMC systems in more complex environments. HE Fourth Industrial Revolution, known as Industry 4.0, envisions significantly increased automation and mechanization in manufacturing, driven by rapidly advancing cyber-physical systems (CPS) with minimal human intervention on the factory floor [1]. However, many dynamically changing and unforeseen control tasks in manufacturing, such as recon-figuring the production line, are challenging for autonomous machines to handle alone [2]. Therefore, humans are rein-troduced to the manufacturing process to collaborate with machines in the fifth industrial revolution, Industry 5.0 [3]. In the Industry 5.0 era, human-machine collaboration (HMC) emerges as a key enabling technology to boost productivity, efficiency, and sustainability by combining human's creativity, The work of W . Liu was supported by the Australian Research Council's Discovery Early Career Researcher A ward (DECRA) Project DE230100016.

Due to the rising awareness of privacy protection and the voluminous scale of speech data, it is becoming infeasible for Automatic Speech Recognition (ASR) system developers to train the acoustic model with complete data as before. For example, the data may be owned by different curators, and it is not allowed to share with others. In this paper, we propose a novel paradigm to solve salient problems plaguing the ASR field. In the first stage, multiple acoustic models are trained based upon different subsets of the complete speech data, while in the second phase, two novel algorithms are utilized to generate a high-quality acoustic model based upon those trained on data subsets. We first propose the Genetic Merge Algorithm (GMA), which is a highly specialized algorithm for optimizing acoustic models but suffers from low efficiency. We further propose the SGD-Based Optimizational Merge Algorithm (SOMA), which effectively alleviates the efficiency bottleneck of GMA and maintains superior model accuracy. Extensive experiments on public data show that the proposed methods can significantly outperform the state-of-the-art. Furthermore, we introduce Shapley Value to estimate the contribution score of the trained models, which is useful for evaluating the effectiveness of the data and providing fair incentives to their curators.

Multi-objective Markov Decision Processes (MDPs) are receiving increasing attention, as real-world decision-making problems often involve conflicting objectives that cannot be addressed by a single-objective MDP. The Pareto front identifies the set of policies that cannot be dominated, providing a foundation for finding optimal solutions that can efficiently adapt to various preferences. However, finding the Pareto front is a highly challenging problem. Most existing methods either (i) rely on traversing the continuous preference space, which is impractical and results in approximations that are difficult to evaluate against the true Pareto front, or (ii) focus solely on deterministic Pareto optimal policies, from which there are no known techniques to characterize the full Pareto front. Moreover, finding the structure of the Pareto front itself remains unclear even in the context of dynamic programming. This work addresses the challenge of efficiently discovering the Pareto front. By investigating the geometric structure of the Pareto front in MO-MDP, we uncover a key property: the Pareto front is on the boundary of a convex polytope whose vertices all correspond to deterministic policies, and neighboring vertices of the Pareto front differ by only one state-action pair of the deterministic policy, almost surely. This insight transforms the global comparison across all policies into a localized search among deterministic policies that differ by only one state-action pair, drastically reducing the complexity of searching for the exact Pareto front. We develop an efficient algorithm that identifies the vertices of the Pareto front by solving a single-objective MDP only once and then traversing the edges of the Pareto front, making it more efficient than existing methods. Our empirical studies demonstrate the effectiveness of our theoretical strategy in discovering the Pareto front.

We explored the Patrol Security Game (PSG), a robotic patrolling problem modeled as an extensive-form Stackelberg game, where the attacker determines the timing, location, and duration of their attack. Our objective is to devise a patrolling schedule with an infinite time horizon that minimizes the attacker's payoff. We demonstrated that PSG can be transformed into a combinatorial minimax problem with a closed-form objective function. By constraining the defender's strategy to a time-homogeneous first-order Markov chain (i.e., the patroller's next move depends solely on their current location), we proved that the optimal solution in cases of zero penalty involves either minimizing the expected hitting time or return time, depending on the attacker model, and that these solutions can be computed efficiently. Additionally, we observed that increasing the randomness in the patrol schedule reduces the attacker's expected payoff in high-penalty cases. However, the minimax problem becomes non-convex in other scenarios. To address this, we formulated a bi-criteria optimization problem incorporating two objectives: expected maximum reward and entropy. We proposed three graph-based algorithms and one deep reinforcement learning model, designed to efficiently balance the trade-off between these two objectives. Notably, the third algorithm can identify the optimal deterministic patrol schedule, though its runtime grows exponentially with the number of patrol spots. Experimental results validate the effectiveness and scalability of our solutions, demonstrating that our approaches outperform state-of-the-art baselines on both synthetic and real-world crime datasets.

Amyotrophic lateral sclerosis (ALS), a progressive neuromuscular degenerative disease, severely restricts patient communication capacity within a few years of onset, resulting in a significant deterioration of quality of life. The P300 speller brain computer interface (BCI) offers an alternative communication medium by leveraging a subject's EEG response to characters traditionally highlighted on a character grid on a graphical user interface (GUI). A recurring theme in P300-based research is enhancing performance to enable faster subject interaction. This study builds on that theme by addressing key limitations, particularly in the training of multi-subject classifiers, and by integrating advanced language models to optimize stimuli presentation and word prediction, thereby improving communication efficiency. Furthermore, various advanced large language models such as Generative Pre-Trained Transformer (GPT2), BERT, and BART, alongside Dijkstra's algorithm, are utilized to optimize stimuli and provide word completion choices based on the spelling history. In addition, a multi-layered smoothing approach is applied to allow for out-of-vocabulary (OOV) words. By conducting extensive simulations based on randomly sampled EEG data from subjects, we show substantial speed improvements in typing passages that include rare and out-of-vocabulary (OOV) words, with the extent of improvement varying depending on the language model utilized. The gains through such character-level interface optimizations are approximately 10%, and GPT2 for multi-word prediction provides gains of around 40%. In particular, some large language models achieve performance levels within 10% of the theoretical performance limits established in this study. In addition, both within and across subjects, training techniques are explored, and speed improvements are shown to hold in both cases.

Visual deep reinforcement learning (RL) enables robots to acquire skills from visual input for unstructured tasks. However, current algorithms suffer from low sample efficiency, limiting their practical applicability. In this work, we present MENTOR, a method that improves both the architecture and optimization of RL agents. Specifically, MENTOR replaces the standard multi-layer perceptron (MLP) with a mixture-of-experts (MoE) backbone, enhancing the agent's ability to handle complex tasks by leveraging modular expert learning to avoid gradient conflicts. Furthermore, MENTOR introduces a task-oriented perturbation mechanism, which heuristically samples perturbation candidates containing task-relevant information, leading to more targeted and effective optimization. MENTOR outperforms stateof-the-art methods across three simulation domains--DeepMind Control Suite, Meta-World, and Adroit. Additionally, MENTOR achieves an average of 83% success rate on three challenging real-world robotic manipulation tasks including Peg Insertion, Cable Routing, and Tabletop Golf, which significantly surpasses the success rate of 32% from the current strongest model-free visual RL algorithm. These results underscore the importance of sample efficiency in advancing visual RL for real-world robotics. Experimental videos are available at mentor. Figure 1: MENTOR is validated in real-world tasks. We design three challenging robotic learning tasks for the agent to acquire skills through real-world visual reinforcement learning. MENTOR achieves the most efficient and robust policies compared to the baselines. Despite substantial progress in this field (Kostrikov et al., 2020; Yarats et al., 2021; Schwarzer et al., 2020; Stooke et al., 2021; Laskin et al., 2020a), these methods still suffer from low sample efficiency.

Existing multi-agent deep reinforcement learning (MADRL) methods for multi-UAV navigation face challenges in generalization, particularly when applied to unseen complex environments. To address these limitations, we propose a Dual-Transformer Encoder-based Proximal Policy Optimization (DTPPO) method. DTPPO enhances multi-UAV collaboration through a Spatial Transformer, which models inter-agent dynamics, and a Temporal Transformer, which captures temporal dependencies to improve generalization across diverse environments. This architecture allows UAVs to navigate new, unseen environments without retraining. Extensive simulations demonstrate that DTPPO outperforms current MADRL methods in terms of transferability, obstacle avoidance, and navigation efficiency across environments with varying obstacle densities. The results confirm DTPPO's effectiveness as a robust solution for multi-UAV navigation in both known and unseen scenarios.

Multi-agent systems are trained to maximize shared cost objectives, which typically reflect system-level efficiency. However, in the resource-constrained environments of mobility and transportation systems, efficiency may be achieved at the expense of fairness -- certain agents may incur significantly greater costs or lower rewards compared to others. Tasks could be distributed inequitably, leading to some agents receiving an unfair advantage while others incur disproportionately high costs. It is important to consider the tradeoffs between efficiency and fairness. We consider the problem of fair multi-agent navigation for a group of decentralized agents using multi-agent reinforcement learning (MARL). We consider the reciprocal of the coefficient of variation of the distances traveled by different agents as a measure of fairness and investigate whether agents can learn to be fair without significantly sacrificing efficiency (i.e., increasing the total distance traveled). We find that by training agents using min-max fair distance goal assignments along with a reward term that incentivizes fairness as they move towards their goals, the agents (1) learn a fair assignment of goals and (2) achieve almost perfect goal coverage in navigation scenarios using only local observations. For goal coverage scenarios, we find that, on average, our model yields a 14% improvement in efficiency and a 5% improvement in fairness over a baseline trained using random assignments. Furthermore, an average of 21% improvement in fairness can be achieved compared to a model trained on optimally efficient assignments; this increase in fairness comes at the expense of only a 7% decrease in efficiency. Finally, we extend our method to environments in which agents must complete coverage tasks in prescribed formations and show that it is possible to do so without tailoring the models to specific formation shapes.