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Source author record

Fei Miao

Fei Miao appears in the imported research catalog. Authorship, coauthor and topic links are available while profile ownership is still unclaimed.

ResearcherUnclaimed source record
Cryptography and SecurityMachine LearningSystems and ControlArtificial IntelligenceComputation and LanguageComputer Science and Game Theoryeess.SYRobotics

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Published work

8 published item(s)

preprint2026arXiv

SEVO: Semantic-Enhanced Virtual Observation for Robust VLA Manipulation via Active Illumination and Data-Centric Collection

Vision-Language-Action (VLA) and imitation-learning policies trained via community toolchains on low-cost hardware frequently fail when deployed outside the training environment. Existing evaluations, including the original ACT and SmolVLA benchmarks, demonstrate high success rates under controlled, fixed backgrounds, yet community practitioners report near-zero transfer to new environments. We present SEVO (Semantic-Enhanced Virtual Observation), a data-centric approach that improves cross-environment manipulation robustness without modifying the policy architecture. SEVO transforms the raw RGB camera stream through three mechanisms: (1) body-fixed cameras whose combined fields of view cover the full manipulation workspace, (2) active red-spectrum illumination that physically normalizes object appearance, and (3) real-time YOLO segmentation overlay that provides a background-invariant semantic cue. Critically, we show that a diversified data collection protocol (systematically varying lighting, backgrounds, and distractors during teleoperation) is the single most important factor for generalization. We target transparent water bottles, objects that visually blend with their surroundings, and select a simple pick-and-place task to enable hundreds of controlled real-robot trials across two mobile platforms. The full pipeline achieves 95% grasp success with ACT and 83% with SmolVLA in the training environment, transferring to novel environments at 85% and 75%. Without SEVO, the same policies achieve only 75%/70% in training and collapse to 30-35% in novel environments. Our results demonstrate that principled observation design and environmental diversity during data collection, not model scaling, enable low-cost robots to operate reliably in everyday household environments.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

A Multi-Agent Reinforcement Learning Approach For Safe and Efficient Behavior Planning Of Connected Autonomous Vehicles

The recent advancements in wireless technology enable connected autonomous vehicles (CAVs) to gather information about their environment by vehicle-to-vehicle (V2V) communication. In this work, we design an information-sharing-based multi-agent reinforcement learning (MARL) framework for CAVs, to take advantage of the extra information when making decisions to improve traffic efficiency and safety. The safe actor-critic algorithm we propose has two new techniques: the truncated Q-function and safe action mapping. The truncated Q-function utilizes the shared information from neighboring CAVs such that the joint state and action spaces of the Q-function do not grow in our algorithm for a large-scale CAV system. We prove the bound of the approximation error between the truncated-Q and global Q-functions. The safe action mapping provides a provable safety guarantee for both the training and execution based on control barrier functions. Using the CARLA simulator for experiments, we show that our approach can improve the CAV system's efficiency in terms of average velocity and comfort under different CAV ratios and different traffic densities. We also show that our approach avoids the execution of unsafe actions and always maintains a safe distance from other vehicles. We construct an obstacle-at-corner scenario to show that the shared vision can help CAVs to observe obstacles earlier and take action to avoid traffic jams.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

A Secure and Efficient Federated Learning Framework for NLP

In this work, we consider the problem of designing secure and efficient federated learning (FL) frameworks. Existing solutions either involve a trusted aggregator or require heavyweight cryptographic primitives, which degrades performance significantly. Moreover, many existing secure FL designs work only under the restrictive assumption that none of the clients can be dropped out from the training protocol. To tackle these problems, we propose SEFL, a secure and efficient FL framework that (1) eliminates the need for the trusted entities; (2) achieves similar and even better model accuracy compared with existing FL designs; (3) is resilient to client dropouts. Through extensive experimental studies on natural language processing (NLP) tasks, we demonstrate that the SEFL achieves comparable accuracy compared to existing FL solutions, and the proposed pruning technique can improve runtime performance up to 13.7x.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Botnets Breaking Transformers: Localization of Power Botnet Attacks Against the Distribution Grid

Traditional botnet attacks leverage large and distributed numbers of compromised internet-connected devices to target and overwhelm other devices with internet packets. With increasing consumer adoption of high-wattage internet-facing "smart devices", a new "power botnet" attack emerges, where such devices are used to target and overwhelm power grid devices with unusual load demand. We introduce a variant of this attack, the power-botnet weardown-attack, which does not intend to cause blackouts or short-term acute instability, but instead forces expensive mechanical components to activate more frequently, necessitating costly replacements / repairs. Specifically, we target the on-load tap-changer (OLTC) transformer, which uses a mechanical switch that responds to change in load demand. In our analysis and simulations, these attacks can halve the lifespan of an OLTC, or in the most extreme cases, reduce it to $2.5\%$ of its original lifespan. Notably, these power botnets are composed of devices not connected to the internal SCADA systems used to control power grids. This represents a new internet-based cyberattack that targets the power grid from the outside. To help the power system to mitigate these types of botnet attacks, we develop attack-localization strategies. We formulate the problem as a supervised machine learning task to locate the source of power botnet attacks. Within a simulated environment, we generate the training and testing dataset to evaluate several machine learning algorithm based localization methods, including SVM, neural network and decision tree. We show that decision-tree based classification successfully identifies power botnet attacks and locates compromised devices with at least $94\%$ improvement of accuracy over a baseline "most-frequent" classifier.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Robust Constrained Reinforcement Learning

Constrained reinforcement learning is to maximize the expected reward subject to constraints on utilities/costs. However, the training environment may not be the same as the test one, due to, e.g., modeling error, adversarial attack, non-stationarity, resulting in severe performance degradation and more importantly constraint violation. We propose a framework of robust constrained reinforcement learning under model uncertainty, where the MDP is not fixed but lies in some uncertainty set, the goal is to guarantee that constraints on utilities/costs are satisfied for all MDPs in the uncertainty set, and to maximize the worst-case reward performance over the uncertainty set. We design a robust primal-dual approach, and further theoretically develop guarantee on its convergence, complexity and robust feasibility. We then investigate a concrete example of $δ$-contamination uncertainty set, design an online and model-free algorithm and theoretically characterize its sample complexity.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Stable and Efficient Shapley Value-Based Reward Reallocation for Multi-Agent Reinforcement Learning of Autonomous Vehicles

With the development of sensing and communication technologies in networked cyber-physical systems (CPSs), multi-agent reinforcement learning (MARL)-based methodologies are integrated into the control process of physical systems and demonstrate prominent performance in a wide array of CPS domains, such as connected autonomous vehicles (CAVs). However, it remains challenging to mathematically characterize the improvement of the performance of CAVs with communication and cooperation capability. When each individual autonomous vehicle is originally self-interest, we can not assume that all agents would cooperate naturally during the training process. In this work, we propose to reallocate the system's total reward efficiently to motivate stable cooperation among autonomous vehicles. We formally define and quantify how to reallocate the system's total reward to each agent under the proposed transferable utility game, such that communication-based cooperation among multi-agents increases the system's total reward. We prove that Shapley value-based reward reallocation of MARL locates in the core if the transferable utility game is a convex game. Hence, the cooperation is stable and efficient and the agents should stay in the coalition or the cooperating group. We then propose a cooperative policy learning algorithm with Shapley value reward reallocation. In experiments, compared with several literature algorithms, we show the improvement of the mean episode system reward of CAV systems using our proposed algorithm.

0 citations0 reviewsNo code linkedOpen access
preprint2016arXiv

Coding Schemes for Securing Cyber-Physical Systems Against Stealthy Data Injection Attacks

This paper considers a method of coding the sensor outputs in order to detect stealthy false data injection attacks. An intelligent attacker can design a sequence of data injection to sensors and actuators that pass the state estimator and statistical fault detector, based on knowledge of the system parameters. To stay undetected, the injected data should increase the state estimation errors while keep the estimation residues small. We employ a coding matrix to change the original sensor outputs to increase the estimation residues under intelligent data injection attacks. This is a low cost method compared with encryption schemes over all sensor measurements in communication networks. We show the conditions of a feasible coding matrix under the assumption that the attacker does not have knowledge of the exact coding matrix. An algorithm is developed to compute a feasible coding matrix, and, we show that in general, multiple feasible coding matrices exist. To defend against attackers who estimates the coding matrix via sensor and actuator measurements, time-varying coding matrices are designed according to the detection requirements. A heuristic algorithm to decide the time length of updating a coding matrix is then proposed.

0 citations0 reviewsNo code linkedOpen access
preprint2016arXiv

Taxi Dispatch with Real-Time Sensing Data in Metropolitan Areas: A Receding Horizon Control Approach

Traditional taxi systems in metropolitan areas often suffer from inefficiencies due to uncoordinated actions as system capacity and customer demand change. With the pervasive deployment of networked sensors in modern vehicles, large amounts of information regarding customer demand and system status can be collected in real time. This information provides opportunities to perform various types of control and coordination for large-scale intelligent transportation systems. In this paper, we present a receding horizon control (RHC) framework to dispatch taxis, which incorporates highly spatiotemporally correlated demand/supply models and real-time GPS location and occupancy information. The objectives include matching spatiotemporal ratio between demand and supply for service quality with minimum current and anticipated future taxi idle driving distance. Extensive trace-driven analysis with a data set containing taxi operational records in San Francisco shows that our solution reduces the average total idle distance by 52%, and reduces the supply demand ratio error across the city during one experimental time slot by 45%. Moreover, our RHC framework is compatible with a wide variety of predictive models and optimization problem formulations. This compatibility property allows us to solve robust optimization problems with corresponding demand uncertainty models that provide disruptive event information.

0 citations0 reviewsNo code linkedOpen access