Yicheng Zeng

Yicheng Zeng, Ruturaj S. Sambhus, Basit Muhammad Imran et al.

This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints introduces explicit inter-agent coupling, which prevents direct decomposition of the resulting optimal control problems. To address this challenge, we reformulate the centralized safety-critical MPC problem using a structured distributed optimization framework based on the alternating direction method of multipliers (ADMM). By introducing a novel node-edge splitting formulation with consensus constraints, the proposed approach decomposes the global problem into independent node-local and edge-local quadratic programs that can be solved in parallel using only neighbor-to-neighbor communication. This enables fully decentralized trajectory optimization with symmetric computational load across agents while preserving safety and dynamic feasibility. The proposed framework is integrated into a hierarchical locomotion control architecture for quadrupedal robots, combining high-level distributed trajectory planning, mid-level nonlinear MPC enforcing single rigid body dynamics, and low-level whole-body control enforcing full-order robot dynamics. The effectiveness of the proposed approach is demonstrated through hardware experiments on two Unitree Go2 quadrupedal robots and numerical simulations involving up to four robots navigating uncertain environments with rough terrain and external disturbances. The results show that the proposed distributed formulation achieves performance comparable to centralized MPC while reducing the average per-cycle planning time by up to 51% in the four-agent case, enabling efficient real-time decentralized implementation.

Shouguo Yang, Long Cheng, Yicheng Zeng et al.

Binary code similarity detection is a fundamental technique for many security applications such as vulnerability search, patch analysis, and malware detection. There is an increasing need to detect similar code for vulnerability search across architectures with the increase of critical vulnerabilities in IoT devices. The variety of IoT hardware architectures and software platforms requires to capture semantic equivalence of code fragments in the similarity detection. However, existing approaches are insufficient in capturing the semantic similarity. We notice that the abstract syntax tree (AST) of a function contains rich semantic information. Inspired by successful applications of natural language processing technologies in sentence semantic understanding, we propose a deep learning-based AST-encoding method, named ASTERIA, to measure the semantic equivalence of functions in different platforms. Our method leverages the Tree-LSTM network to learn the semantic representation of a function from its AST. Then the similarity detection can be conducted efficiently and accurately by measuring the similarity between two representation vectors. We have implemented an open-source prototype of ASTERIA. The Tree-LSTM model is trained on a dataset with 1,022,616 function pairs and evaluated on a dataset with 95,078 function pairs. Evaluation results show that our method outperforms the AST-based tool Diaphora and the-state-of-art method Gemini by large margins with respect to the binary similarity detection. And our method is several orders of magnitude faster than Diaphora and Gemini for the similarity calculation. In the application of vulnerability search, our tool successfully identified 75 vulnerable functions in 5,979 IoT firmware images.

Ruturaj S. Sambhus, Yicheng Zeng, Kapi Ketan Mehta et al.

This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The interconnected robot-payload system is modeled as a discrete-time nonlinear differential-algebraic system, capturing the coupled dynamics through holonomic constraints and interaction wrenches. To ensure safety in complex environments, we develop a control barrier function (CBF)-based NMPC formulation that enforces collision avoidance constraints for both the robots and the payload. The proposed approach retains the interaction wrenches as decision variables, resulting in a structured DAE-constrained optimal control problem that enables efficient real-time implementation. The effectiveness of the algorithm is validated through extensive hardware experiments on two Unitree Go2 platforms performing cooperative payload transportation in cluttered environments under mass and inertia uncertainty and external push disturbances.

Jiawei Li, Sitong Li, Shanshan Wang et al.

Deploying machine learning in open environments presents the challenge of encountering diverse test inputs that differ significantly from the training data. These out-of-distribution samples may exhibit shifts in local or global features compared to the training distribution. The machine learning (ML) community has responded with a number of methods aimed at distinguishing anomalous inputs from original training data. However, the majority of previous studies have primarily focused on the output layer or penultimate layer of pre-trained deep neural networks. In this paper, we propose a novel framework, Multitesting-based Layer-wise Out-of-Distribution (OOD) Detection (MLOD), to identify distributional shifts in test samples at different levels of features through rigorous multiple testing procedure. Our approach distinguishes itself from existing methods as it does not require modifying the structure or fine-tuning of the pre-trained classifier. Through extensive experiments, we demonstrate that our proposed framework can seamlessly integrate with any existing distance-based inspection method while efficiently utilizing feature extractors of varying depths. Our scheme effectively enhances the performance of out-of-distribution detection when compared to baseline methods. In particular, MLOD-Fisher achieves superior performance in general. When trained using KNN on CIFAR10, MLOD-Fisher significantly lowers the false positive rate (FPR) from 24.09% to 7.47% on average compared to merely utilizing the features of the last layer.

Chenrui Liu, Falong Tan, Chuanlong Xie et al.

This paper investigates the expected excess risk of in-context learning (ICL) for multiclass classification. We formalize each task as a sequence of labeled examples followed by a query input; a pretrained model then estimates the query's conditional class probabilities. The expected excess risk is defined as the average truncated Kullback-Leibler (KL) divergence between the predicted and true conditional class distributions over a specified family of tasks. We establish a new oracle inequality for this risk, based on KL divergence, in multiclass classification. This yields tight upper and lower bounds for transformer-based models, showing that the ICL estimator achieves the minimax optimal rate (up to logarithmic factors) for conditional probability estimation. From a technical standpoint, our results introduce a novel method for controlling generalization error via uniform empirical entropy. We further demonstrate that multilayer perceptrons (MLPs) can also perform ICL and attain the same optimal rate (up to logarithmic factors) under suitable assumptions, suggesting that effective ICL need not be exclusive to transformer architectures.