Showing 1–28 of 28 results for author: Jackson, D

A revised framework for the assessment of psychological safety in autonomous vehicles

Authors: Yandika Sirgabsou, Benjamin Hardin, François Leblanc, Efi Raili, David Jackson, Pericle Salvini, Lars Kunze, Marina Jirotka

Abstract: Despite recent technological progress in the development of autonomous vehicles (AVs), their societal acceptability remains a subject of debate as recent research findings point to psychological roadblocks. Concerns arise not only for physical safety but also for potential psychological risks resulting from human interaction with AVs. Psychological concepts such as trust, and perceived safety are… ▽ More Despite recent technological progress in the development of autonomous vehicles (AVs), their societal acceptability remains a subject of debate as recent research findings point to psychological roadblocks. Concerns arise not only for physical safety but also for potential psychological risks resulting from human interaction with AVs. Psychological concepts such as trust, and perceived safety are well-studied in this context and are found to be determinant factors for the intention to use AVs. Unfortunately, there has been no formalization of the mechanism by which human interaction with AVs may lead to psychological hazards, threatening trust, perceived safety, and acceptability. Furthermore, there has been little prior research that conceptualizes the severity of psychological risk in AVs, and there are no clear guidelines for a systems designer on how to assess and address psychological risk in the AV development context. To address these limitations, this paper extends a theoretical framework for AV psychological safety risk assessment based on an early proposal. The proposed framework consists of an extended risk model for psychological safety including all the key concepts related to psychological safety in AVs, and an assessment method based on the Systems-Theoretic Accident Model and Processes (STAMP). We demonstrate the usefulness of the theoretical framework through a highly automated AV use case scenario, uncovering factors which may lead to psychological risk for an occupant. The use cases provide examples of how to use the framework to extensively evaluate psychological risk and determine vehicle behaviour that could lead to this risk. By developing a theoretical framework for AV psychological safety risk assessment, we provide a foundation and a method that were previously lacking to better enable responsible AV development regarding psychological safety. △ Less

Submitted 19 August, 2026; originally announced August 2026.

Engineering Psychological Safety in Autonomous Vehicles: A Systems-Theoretic Framework for Psychological Safety in Autonomous Vehicles and its Validation in Real-World Scenarios

Authors: Yandika Sirgabsou, Benjamin Hardin, François Leblanc, Efi Raili, David Jackson, Pericle Salvini, Lars Kunze, Marina Jirotka

Abstract: Despite rapid technological advances, the societal acceptability of autonomous vehicles (AVs) remains limited by psychological barriers that extend beyond traditional concerns of physical safety. While factors such as trust and perceived safety are known to influence user acceptance, there is a lack of formalized mechanisms and engineering methods to systematically identify, assess, and mitigate p… ▽ More Despite rapid technological advances, the societal acceptability of autonomous vehicles (AVs) remains limited by psychological barriers that extend beyond traditional concerns of physical safety. While factors such as trust and perceived safety are known to influence user acceptance, there is a lack of formalized mechanisms and engineering methods to systematically identify, assess, and mitigate psychological risks arising from human-AV interactions. To address this gap, this work proposes and validates a systems-theoretic framework for the assessment of psychological safety in autonomous vehicles. First, a comprehensive psychological safety risk model is defined, extending the Systems-Theoretic Accident Model and Processes (STAMP) to incorporate key psychological constructs such as trust, perceived control, predictability, and perceived support. Based on this model, a hazard analysis method (AV-PsySafe) is developed to systematically identify psychological hazards, unsafe control actions, and loss scenarios, while introducing a Psychological Safety Integrity Level (PsySIL) to support risk prioritization. Second, the applicability and relevance of the framework are evaluated through its deployment in realistic autonomous vehicle scenarios. A structured validation approach is implemented, including a methodological guide, standardized analysis templates, and the collection of analyst feedback. The results demonstrate that the framework can be consistently applied by practitioners, producing meaningful insights into psychological risks. Overall, this work establishes both the theoretical foundations and practical feasibility of a unified approach to co-assessing psychological and physical safety in autonomous systems, contributing to more human-centred and trustworthy AV development. △ Less

Submitted 19 August, 2026; originally announced August 2026.

Beyond Objects

Authors: Daniel Jackson

Abstract: A core principle of object orientation -- that the functionality of a system can be partitioned amongst objects that correspond to individuals in the problem domain -- has influenced how software has been specified, designed and implemented for more than fifty years. Later developments in software engineering sought to build on this principle. But in fact this partitioning is neither natural nor s… ▽ More A core principle of object orientation -- that the functionality of a system can be partitioned amongst objects that correspond to individuals in the problem domain -- has influenced how software has been specified, designed and implemented for more than fifty years. Later developments in software engineering sought to build on this principle. But in fact this partitioning is neither natural nor straightforward, and the problems that these later developments sought to mitigate -- the fragmentation and conflation of functionality -- were often, in fact, the inevitable consequences of this founding principle. An easier path to addressing these problems therefore starts by going back, abandoning object orientation, and replacing it with an alternative approach that decouples the individuals of the problem domain from the modules that partition functionality. △ Less

Submitted 25 June, 2026; originally announced June 2026.

Making Software Meaningful

Authors: Eagon Meng, Abutalib Namazov, Carmel Schare, Alcino Cunha, Daniel Jackson

Abstract: Adopting a single measure can improve the usability, modularity and accountability of software: a commitment to explicit meaning. This entails constructing and agreeing upon a representation of the behavior of the software, as observed in the domain of application. The phenomena comprising this behavior become a vocabulary that grounds all discourse about the software, among all stakeholders, and… ▽ More Adopting a single measure can improve the usability, modularity and accountability of software: a commitment to explicit meaning. This entails constructing and agreeing upon a representation of the behavior of the software, as observed in the domain of application. The phenomena comprising this behavior become a vocabulary that grounds all discourse about the software, among all stakeholders, and for all artifacts and activities. These phenomena are individuals; actions they participate in; and facts that result from actions. They can be organized, by partitioning the set of actions, into concepts, offering larger units of meaning. Examples of exploiting meaning are given in three areas: designing for usability (by aligning user and designer on a single shared meaning); generating modular code with LLMs (by mapping units of meaning to units of code, achieving not only modularity but also legibility); and making agents accountable (by having them adhere to a code of conduct that defines their intended behavior). △ Less

Submitted 9 June, 2026; originally announced June 2026.

Exploring Drug Safety Through Knowledge Graphs: Protein Kinase Inhibitors as a Case Study

Authors: David Jackson, Michael Gertz, Jürgen Hesser

Abstract: Adverse Drug Reactions (ADRs) are a leading cause of morbidity and mortality. Existing prediction methods rely mainly on chemical similarity, machine learning on structured databases, or isolated target profiles, but often fail to integrate heterogeneous, partly unstructured evidence effectively. We present a knowledge graph-based framework that unifies diverse sources, drug-target data (ChEMBL),… ▽ More Adverse Drug Reactions (ADRs) are a leading cause of morbidity and mortality. Existing prediction methods rely mainly on chemical similarity, machine learning on structured databases, or isolated target profiles, but often fail to integrate heterogeneous, partly unstructured evidence effectively. We present a knowledge graph-based framework that unifies diverse sources, drug-target data (ChEMBL), clinical trial literature (PubMed), trial metadata (ClinicalTrials.gov), and post-marketing safety reports (FAERS) into a single evidence-weighted bipartite network of drugs and medical conditions. Applied to 400 protein kinase inhibitors, the resulting network enables contextual comparison of efficacy (HR, PFS, OS), phenotypic and target similarity, and ADR prediction via target-to-adverse-event correlations. A non-small cell lung cancer case study correctly highlights established and candidate drugs, target communities (ERbB, ALK, VEGF), and tolerability differences. Designed as an orthogonal, extensible analysis and search tool rather than a replacement for current models, the framework excels at revealing complex patterns, supporting hypothesis generation, and enhancing pharmacovigilance. Code and data are publicly available at https://github.com/davidjackson99/PKI_KG. △ Less

Submitted 17 February, 2026; originally announced March 2026.

Comments: 14 pages, 5 figures. Code and data available at https://github.com/davidjackson99/PKI_KG

Simulated Self-Assessment in Large Language Models: A Psychometric Approach to AI Self-Efficacy

Authors: Daniel I Jackson, Emma L Jensen, Syed-Amad Hussain, Emre Sezgin

Abstract: Self-assessment is a key aspect of reliable intelligence, yet evaluations of large language models (LLMs) focus mainly on task accuracy. We adapted the 10-item General Self-Efficacy Scale (GSES) to elicit simulated self-assessments from ten LLMs across four conditions: no task, computational reasoning, social reasoning, and summarization. GSES responses were highly stable across repeated administr… ▽ More Self-assessment is a key aspect of reliable intelligence, yet evaluations of large language models (LLMs) focus mainly on task accuracy. We adapted the 10-item General Self-Efficacy Scale (GSES) to elicit simulated self-assessments from ten LLMs across four conditions: no task, computational reasoning, social reasoning, and summarization. GSES responses were highly stable across repeated administrations and randomized item orders. However, models showed significantly different self-efficacy levels across conditions, with aggregate scores lower than human norms. All models achieved perfect accuracy on computational and social questions, whereas summarization performance varied widely. Self-assessment did not reliably reflect ability: several low-scoring models performed accurately, while some high-scoring models produced weaker summaries. Follow-up confidence prompts yielded modest, mostly downward revisions, suggesting mild overestimation in first-pass assessments. Qualitative analysis showed that higher self-efficacy corresponded to more assertive, anthropomorphic reasoning styles, whereas lower scores reflected cautious, de-anthropomorphized explanations. Psychometric prompting provides structured insight into LLM communication behavior but not calibrated performance estimates. △ Less

Submitted 26 November, 2025; v1 submitted 24 November, 2025; originally announced November 2025.

Comments: 25 pages,5 tables, 3 figures

AA-Omniscience: Evaluating Cross-Domain Knowledge Reliability in Large Language Models

Authors: Declan Jackson, William Keating, George Cameron, Micah Hill-Smith

Abstract: Existing language model evaluations primarily measure general capabilities, yet reliable use of these models across a range of domains demands factual accuracy and recognition of knowledge gaps. We introduce AA-Omniscience, a benchmark designed to measure both factual recall and knowledge calibration across 6,000 questions. Questions are derived from authoritative academic and industry sources, an… ▽ More Existing language model evaluations primarily measure general capabilities, yet reliable use of these models across a range of domains demands factual accuracy and recognition of knowledge gaps. We introduce AA-Omniscience, a benchmark designed to measure both factual recall and knowledge calibration across 6,000 questions. Questions are derived from authoritative academic and industry sources, and cover 42 economically relevant topics within six different domains. The evaluation measures a model's Omniscience Index, a bounded metric (-100 to 100) measuring factual recall that jointly penalizes hallucinations and rewards abstention when uncertain, with 0 equating to a model that answers questions correctly as much as it does incorrectly. Among evaluated models, Claude 4.1 Opus attains the highest score (4.8), making it one of only three models to score above zero. These results reveal persistent factuality and calibration weaknesses across frontier models. Performance also varies by domain, with the models from three different research labs leading across the six domains. This performance variability suggests models should be chosen according to the demands of the use case rather than general performance for tasks where knowledge is important. △ Less

Submitted 17 November, 2025; originally announced November 2025.

Bridging Cybersecurity Practice and Law: a Hands-on, Scenario-Based Curriculum Using the NICE Framework to Foster Skill Development

Authors: Colman McGuan, Aadithyan V. Raghavan, Komala M. Mandapati, Chansu Yu, Brian E. Ray, Debbie K. Jackson, Sathish Kumar

Abstract: In an increasingly interconnected world, cybersecurity professionals play a pivotal role in safeguarding organizations from cyber threats. To secure their cyberspace, organizations are forced to adopt a cybersecurity framework such as the NIST National Initiative for Cybersecurity Education Workforce Framework for Cybersecurity (NICE Framework). Although these frameworks are a good starting point… ▽ More In an increasingly interconnected world, cybersecurity professionals play a pivotal role in safeguarding organizations from cyber threats. To secure their cyberspace, organizations are forced to adopt a cybersecurity framework such as the NIST National Initiative for Cybersecurity Education Workforce Framework for Cybersecurity (NICE Framework). Although these frameworks are a good starting point for businesses and offer critical information to identify, prevent, and respond to cyber incidents, they can be difficult to navigate and implement, particularly for small-medium businesses (SMB). To help overcome this issue, this paper identifies the most frequent attack vectors to SMBs (Objective 1) and proposes a practical model of both technical and non-technical tasks, knowledge, skills, abilities (TKSA) from the NICE Framework for those attacks (Objective 2). The research develops a scenario-based curriculum. By immersing learners in realistic cyber threat scenarios, their practical understanding and preparedness in responding to cybersecurity incidents is enhanced (Objective 3). Finally, this work integrates practical experience and real-life skill development into the curriculum (Objective 4). SMBs can use the model as a guide to evaluate, equip their existing workforce, or assist in hiring new employees. In addition, educational institutions can use the model to develop scenario-based learning modules to adequately equip the emerging cybersecurity workforce for SMBs. Trainees will have the opportunity to practice both technical and legal issues in a simulated environment, thereby strengthening their ability to identify, mitigate, and respond to cyber threats effectively. △ Less

Submitted 21 September, 2025; originally announced September 2025.

Can AI Have a Personality? Prompt Engineering for AI Personality Simulation: A Chatbot Case Study in Gender-Affirming Voice Therapy Training

Authors: Tailon D. Jackson, Byunggu Yu

Abstract: This thesis investigates whether large language models (LLMs) can be guided to simulate a consistent personality through prompt engineering. The study explores this concept within the context of a chatbot designed for Speech-Language Pathology (SLP) student training, specifically focused on gender-affirming voice therapy. The chatbot, named Monae Jackson, was created to represent a 32-year-old tra… ▽ More This thesis investigates whether large language models (LLMs) can be guided to simulate a consistent personality through prompt engineering. The study explores this concept within the context of a chatbot designed for Speech-Language Pathology (SLP) student training, specifically focused on gender-affirming voice therapy. The chatbot, named Monae Jackson, was created to represent a 32-year-old transgender woman and engage in conversations simulating client-therapist interactions. Findings suggest that with prompt engineering, the chatbot maintained a recognizable and consistent persona and had a distinct personality based on the Big Five Personality test. These results support the idea that prompt engineering can be used to simulate stable personality characteristics in AI chatbots. △ Less

Submitted 7 October, 2025; v1 submitted 19 August, 2025; originally announced August 2025.

What You See Is What It Does: A Structural Pattern for Legible Software

Authors: Eagon Meng, Daniel Jackson

Abstract: The opportunities offered by LLM coders (and their current limitations) demand a reevaluation of how software is structured. Software today is often "illegible" - lacking a direct correspondence between code and observed behavior - and insufficiently modular, leading to a failure of three key requirements of robust coding: incrementality (the ability to deliver small increments by making localized… ▽ More The opportunities offered by LLM coders (and their current limitations) demand a reevaluation of how software is structured. Software today is often "illegible" - lacking a direct correspondence between code and observed behavior - and insufficiently modular, leading to a failure of three key requirements of robust coding: incrementality (the ability to deliver small increments by making localized changes), integrity (avoiding breaking prior increments) and transparency (making clear what has changed at build time, and what actions have happened at runtime). A new structural pattern offers improved legibility and modularity. Its elements are concepts and synchronizations: fully independent services and event-based rules that mediate between them. A domain-specific language for synchronizations allows behavioral features to be expressed in a granular and declarative way (and thus readily generated by an LLM). A case study of the RealWorld benchmark is used to illustrate and evaluate the approach. △ Less

Submitted 27 August, 2025; v1 submitted 20 August, 2025; originally announced August 2025.

Comments: 16 pages. Appearing in Onward! at SPLASH 2025; added DOI, updated references/formatting

ACM Class: D.2.11

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation

Authors: TRI LBM Team, Jose Barreiros, Andrew Beaulieu, Aditya Bhat, Rick Cory, Eric Cousineau, Hongkai Dai, Ching-Hsin Fang, Kunimatsu Hashimoto, Muhammad Zubair Irshad, Masha Itkina, Naveen Kuppuswamy, Kuan-Hui Lee, Katherine Liu, Dale McConachie, Ian McMahon, Haruki Nishimura, Calder Phillips-Grafflin, Charles Richter, Paarth Shah, Krishnan Srinivasan, Blake Wulfe, Chen Xu, Mengchao Zhang, Alex Alspach , et al. (57 additional authors not shown)

Abstract: Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently, scaling data and model size has led to the development of capable language and vision foundation models, motivating large-scale efforts to create general-purpose robot foundation models. While these models have garnere… ▽ More Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently, scaling data and model size has led to the development of capable language and vision foundation models, motivating large-scale efforts to create general-purpose robot foundation models. While these models have garnered significant enthusiasm and investment, meaningful evaluation of real-world performance remains a challenge, limiting both the pace of development and inhibiting a nuanced understanding of current capabilities. In this paper, we rigorously evaluate multitask robot manipulation policies, referred to as Large Behavior Models (LBMs), by extending the Diffusion Policy paradigm across a corpus of simulated and real-world robot data. We propose and validate an evaluation pipeline to rigorously analyze the capabilities of these models with statistical confidence. We compare against single-task baselines through blind, randomized trials in a controlled setting, using both simulation and real-world experiments. We find that multi-task pretraining makes the policies more successful and robust, and enables teaching complex new tasks more quickly, using a fraction of the data when compared to single-task baselines. Moreover, performance predictably increases as pretraining scale and diversity grows. Project page: https://toyotaresearchinstitute.github.io/lbm1/ △ Less

Submitted 7 July, 2025; originally announced July 2025.

One For All: Formally Verifying Protocols which use Aggregate Signatures (extended version)

Authors: Xenia Hofmeier, Andrea Raguso, Ralf Sasse, Dennis Jackson, David Basin

Abstract: Aggregate signatures are digital signatures that compress multiple signatures from different parties into a single signature, thereby reducing storage and bandwidth requirements. BLS aggregate signatures are a popular kind of aggregate signature, deployed by Ethereum, Dfinity, and Cloudflare amongst others, currently undergoing standardization at the IETF. However, BLS aggregate signatures are dif… ▽ More Aggregate signatures are digital signatures that compress multiple signatures from different parties into a single signature, thereby reducing storage and bandwidth requirements. BLS aggregate signatures are a popular kind of aggregate signature, deployed by Ethereum, Dfinity, and Cloudflare amongst others, currently undergoing standardization at the IETF. However, BLS aggregate signatures are difficult to use correctly, with nuanced requirements that must be carefully handled by protocol developers. In this work, we design the first models of aggregate signatures that enable formal verification tools, such as Tamarin and ProVerif, to be applied to protocols using these signatures. We introduce general models that are based on the cryptographic security definition of generic aggregate signatures, allowing the attacker to exploit protocols where the security requirements are not satisfied. We also introduce a second family of models formalizing BLS aggregate signatures in particular. We demonstrate our approach's practical relevance by modelling and analyzing in Tamarin a device attestation protocol called SANA. Despite SANA's claimed correctness proof, with Tamarin we uncover undocumented assumptions that, when omitted, lead to attacks. △ Less

Submitted 15 May, 2025; originally announced May 2025.

A risk model and analysis method for the psychological safety of human and autonomous vehicles interaction

Authors: Yandika Sirgabsou, Benjamin Hardin, François Leblanc, Efi Raili, Pericle Salvini, David Jackson, Marina Jirotka, Lars Kunze

Abstract: The rapid advancement of artificial intelligence and autonomous driving technologies has significantly propelled the development of autonomous vehicles (AVs). However, psychological barriers continue to impede widespread AV adoption, despite technological progress. This paper addresses the critical yet often overlooked aspect of psychological safety in AV design and operation. While traditional sa… ▽ More The rapid advancement of artificial intelligence and autonomous driving technologies has significantly propelled the development of autonomous vehicles (AVs). However, psychological barriers continue to impede widespread AV adoption, despite technological progress. This paper addresses the critical yet often overlooked aspect of psychological safety in AV design and operation. While traditional safety standards focus primarily on physical safety, this paper emphasizes the psychological implications that arise from human interactions with autonomous vehicles, highlighting the importance of trust and perceived risk as significant factors influencing user acceptance. The paper makes a methodological proposal, a framework for addressing AVs psychological safety consisting of three key contributions. First, it introduces a definition of psychological safety in AVs context. Secondly, it proposes a risk model for identifying and assessing AVs psychological hazards and risks. PsySIL (Psychological Safety Integrity Level), a classification of AV psychological risk levels is developed. Thirdly, an adapted system-theoretic analysis method for AVs psychological safety is proposed. The paper illustrates the application of the framework for assessing potential psychological hazards using a scenario involving a family's experience with an autonomous vehicle, pioneering a systems approach towards evaluating situations that could lead to psychological harm. By establishing a framework that incorporates psychological safety alongside physical safety, the paper contributes to the broader discourse on the safe deployment of autonomous vehicle, aiming to guide future developments in user-centred design and regulatory practices, while acknowledging the limitations brought by the application of the proposals on a rather simple but pedagogical illustrative example. △ Less

Submitted 8 October, 2025; v1 submitted 8 November, 2024; originally announced November 2024.

Rapid modelling of reactive transport in porous media using machine learning: limitations and solutions

Authors: Vinicius L S Silva, Geraldine Regnier, Pablo Salinas, Claire E Heaney, Matthew D Jackson, Christopher C Pain

Abstract: Reactive transport in porous media plays a pivotal role in subsurface reservoir processes, influencing fluid properties and geochemical characteristics. However, coupling fluid flow and transport with geochemical reactions is computationally intensive, requiring geochemical calculations at each grid cell and each time step within a discretized simulation domain. Although recent advancements have i… ▽ More Reactive transport in porous media plays a pivotal role in subsurface reservoir processes, influencing fluid properties and geochemical characteristics. However, coupling fluid flow and transport with geochemical reactions is computationally intensive, requiring geochemical calculations at each grid cell and each time step within a discretized simulation domain. Although recent advancements have integrated machine learning techniques as surrogates for geochemical simulations, ensuring computational efficiency and accuracy remains a challenge. This work investigates machine learning models as replacements for a geochemical module in a simulation of reactive transport in porous media. As a proof of concept, we test this approach on a well-documented cation exchange problem. While the surrogate models excel in isolated predictions, they fall short in rollout predictions over successive time steps. By introducing modifications, including physics-based constraints and tailored dataset generation strategies, we show that machine learning surrogates can achieve accurate rollout predictions. Our findings emphasize that even for a simple sorption equilibrium reaction (cation exchange problem), machine learning surrogates alone fail in predicting over successive time-steps. Incorporating simple physics-based modifications enables us to overcome this limitation. A detailed analysis of the limitations and potential mitigation strategies is presented in this work. △ Less

Submitted 25 April, 2025; v1 submitted 23 May, 2024; originally announced May 2024.

SambaNova SN40L: Scaling the AI Memory Wall with Dataflow and Composition of Experts

Authors: Raghu Prabhakar, Ram Sivaramakrishnan, Darshan Gandhi, Yun Du, Mingran Wang, Xiangyu Song, Kejie Zhang, Tianren Gao, Angela Wang, Karen Li, Yongning Sheng, Joshua Brot, Denis Sokolov, Apurv Vivek, Calvin Leung, Arjun Sabnis, Jiayu Bai, Tuowen Zhao, Mark Gottscho, David Jackson, Mark Luttrell, Manish K. Shah, Edison Chen, Kaizhao Liang, Swayambhoo Jain , et al. (5 additional authors not shown)

Abstract: Monolithic large language models (LLMs) like GPT-4 have paved the way for modern generative AI applications. Training, serving, and maintaining monolithic LLMs at scale, however, remains prohibitively expensive and challenging. The disproportionate increase in compute-to-memory ratio of modern AI accelerators have created a memory wall, necessitating new methods to deploy AI. Composition of Expert… ▽ More Monolithic large language models (LLMs) like GPT-4 have paved the way for modern generative AI applications. Training, serving, and maintaining monolithic LLMs at scale, however, remains prohibitively expensive and challenging. The disproportionate increase in compute-to-memory ratio of modern AI accelerators have created a memory wall, necessitating new methods to deploy AI. Composition of Experts (CoE) is an alternative modular approach that lowers the cost and complexity of training and serving. However, this approach presents two key challenges when using conventional hardware: (1) without fused operations, smaller models have lower operational intensity, which makes high utilization more challenging to achieve; and (2) hosting a large number of models can be either prohibitively expensive or slow when dynamically switching between them. In this paper, we describe how combining CoE, streaming dataflow, and a three-tier memory system scales the AI memory wall. We describe Samba-CoE, a CoE system with 150 experts and a trillion total parameters. We deploy Samba-CoE on the SambaNova SN40L Reconfigurable Dataflow Unit (RDU) - a commercial dataflow accelerator architecture that has been co-designed for enterprise inference and training applications. The chip introduces a new three-tier memory system with on-chip distributed SRAM, on-package HBM, and off-package DDR DRAM. A dedicated inter-RDU network enables scaling up and out over multiple sockets. We demonstrate speedups ranging from 2$\times$ to 13$\times$ on various benchmarks running on eight RDU sockets compared with an unfused baseline. We show that for CoE inference deployments, the 8-socket RDU Node reduces machine footprint by up to 19$\times$, speeds up model switching time by 15$\times$ to 31$\times$, and achieves an overall speedup of 3.7$\times$ over a DGX H100 and 6.6$\times$ over a DGX A100. △ Less

Submitted 4 November, 2024; v1 submitted 13 May, 2024; originally announced May 2024.

Comments: 2024 57th IEEE/ACM International Symposium on Microarchitecture (MICRO)

ACM Class: C.1.3; C.0

DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset

Authors: Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari, Siddharth Karamcheti, Soroush Nasiriany, Mohan Kumar Srirama, Lawrence Yunliang Chen, Kirsty Ellis, Peter David Fagan, Joey Hejna, Masha Itkina, Marion Lepert, Yecheng Jason Ma, Patrick Tree Miller, Jimmy Wu, Suneel Belkhale, Shivin Dass, Huy Ha, Arhan Jain, Abraham Lee, Youngwoon Lee, Marius Memmel, Sungjae Park , et al. (76 additional authors not shown)

Abstract: The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipulation data in diverse environments poses logistical and safety challenges and requires substantial investments in hardware and human labour. As a resu… ▽ More The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipulation data in diverse environments poses logistical and safety challenges and requires substantial investments in hardware and human labour. As a result, even the most general robot manipulation policies today are mostly trained on data collected in a small number of environments with limited scene and task diversity. In this work, we introduce DROID (Distributed Robot Interaction Dataset), a diverse robot manipulation dataset with 76k demonstration trajectories or 350 hours of interaction data, collected across 564 scenes and 84 tasks by 50 data collectors in North America, Asia, and Europe over the course of 12 months. We demonstrate that training with DROID leads to policies with higher performance and improved generalization ability. We open source the full dataset, policy learning code, and a detailed guide for reproducing our robot hardware setup. △ Less

Submitted 22 April, 2025; v1 submitted 19 March, 2024; originally announced March 2024.

Comments: Project website: https://droid-dataset.github.io/

Artificial Intelligence Ethics Education in Cybersecurity: Challenges and Opportunities: a focus group report

Authors: Diane Jackson, Sorin Adam Matei, Elisa Bertino

Abstract: The emergence of AI tools in cybersecurity creates many opportunities and uncertainties. A focus group with advanced graduate students in cybersecurity revealed the potential depth and breadth of the challenges and opportunities. The salient issues are access to open source or free tools, documentation, curricular diversity, and clear articulation of ethical principles for AI cybersecurity educati… ▽ More The emergence of AI tools in cybersecurity creates many opportunities and uncertainties. A focus group with advanced graduate students in cybersecurity revealed the potential depth and breadth of the challenges and opportunities. The salient issues are access to open source or free tools, documentation, curricular diversity, and clear articulation of ethical principles for AI cybersecurity education. Confronting the "black box" mentality in AI cybersecurity work is also of the greatest importance, doubled by deeper and prior education in foundational AI work. Systems thinking and effective communication were considered relevant areas of educational improvement. Future AI educators and practitioners need to address these issues by implementing rigorous technical training curricula, clear documentation, and frameworks for ethically monitoring AI combined with critical and system's thinking and communication skills. △ Less

Submitted 1 November, 2023; originally announced November 2023.

Beyond Dark Patterns: A Concept-Based Framework for Ethical Software Design

Authors: Evan Caragay, Katherine Xiong, Jonathan Zong, Daniel Jackson

Abstract: Current dark pattern research tells designers what not to do, but how do they know what to do? In contrast to prior approaches that focus on patterns to avoid and their underlying principles, we present a framework grounded in positive expected behavior against which deviations can be judged. To articulate this expected behavior, we use concepts -- abstract units of functionality that compose appl… ▽ More Current dark pattern research tells designers what not to do, but how do they know what to do? In contrast to prior approaches that focus on patterns to avoid and their underlying principles, we present a framework grounded in positive expected behavior against which deviations can be judged. To articulate this expected behavior, we use concepts -- abstract units of functionality that compose applications. We define a design as dark when its concepts violate users' expectations, and benefit the application provider at the user's expense. Though user expectations can differ, users tend to develop common expectations as they encounter the same concepts across multiple applications, which we can record in a concept catalog as standard concepts. We evaluate our framework and concept catalog through three studies, illustrating their ability to describe existing dark patterns, evaluate nuanced designs, and document common application functionality. △ Less

Submitted 3 March, 2024; v1 submitted 3 October, 2023; originally announced October 2023.

Comments: ACM CHI 2024

Bluefish: Composing Diagrams with Declarative Relations

Authors: Josh Pollock, Catherine Mei, Grace Huang, Elliot Evans, Daniel Jackson, Arvind Satyanarayan

Abstract: Diagrams are essential tools for problem-solving and communication as they externalize conceptual structures using spatial relationships. But when picking a diagramming framework, users are faced with a dilemma. They can either use a highly expressive but low-level toolkit, whose API does not match their domain-specific concepts, or select a high-level typology, which offers a recognizable vocabul… ▽ More Diagrams are essential tools for problem-solving and communication as they externalize conceptual structures using spatial relationships. But when picking a diagramming framework, users are faced with a dilemma. They can either use a highly expressive but low-level toolkit, whose API does not match their domain-specific concepts, or select a high-level typology, which offers a recognizable vocabulary but supports a limited range of diagrams. To address this gap, we introduce Bluefish: a diagramming framework inspired by component-based user interface (UI) libraries. Bluefish lets users create diagrams using relations: declarative, composable, and extensible diagram fragments that relax the concept of a UI component. Unlike a component, a relation does not have sole ownership over its children nor does it need to fully specify their layout. To render diagrams, Bluefish extends a traditional tree-based scenegraph to a compound graph that captures both hierarchical and adjacent relationships between nodes. To evaluate our system, we construct a diverse example gallery covering many domains including mathematics, physics, computer science, and even cooking. We show that Bluefish's relations are effective declarative primitives for diagrams. Bluefish is open source, and we aim to shape it into both a usable tool and a research platform. △ Less

Submitted 25 July, 2024; v1 submitted 30 June, 2023; originally announced July 2023.

Comments: 27 pages, 14 figures

Concept-centric Software Development

Authors: Peter Wilczynski, Taylor Gregoire-Wright, Daniel Jackson

Abstract: Developers have long recognized the importance of the concepts underlying the systems they build, and the primary role concepts play in shaping user experience. To date, however, concepts have tended to be only implicit in software design with development being organized instead around more concrete artifacts (such as wireframes and code modules). Palantir, a software company whose data analytic… ▽ More Developers have long recognized the importance of the concepts underlying the systems they build, and the primary role concepts play in shaping user experience. To date, however, concepts have tended to be only implicit in software design with development being organized instead around more concrete artifacts (such as wireframes and code modules). Palantir, a software company whose data analytics products are widely used by major corporations, recently reworked its internal representation of its software development process to bring concepts to the fore, making explicit the concepts underlying its products, how they are clustered, used within and across applications, and governed by teams. With a centralized repository of concepts, Palantir engineers are able to align products more closely based on shared concepts, evolve concepts in response to user needs, and communicate more effectively with non-engineering groups within the company. This paper reports on Palantir's experiences to date, analyzing both successes and challenges, and offers advice to other organizations considering adopting a concept-centric approach to software development △ Less

Submitted 19 October, 2023; v1 submitted 28 April, 2023; originally announced April 2023.

Automated Security Analysis of Exposure Notification Systems

Authors: Kevin Morio, Ilkan Esiyok, Dennis Jackson, Robert Künnemann

Abstract: We present the first formal analysis and comparison of the security of the two most widely deployed exposure notification systems, ROBERT and the Google and Apple Exposure Notification (GAEN) framework. ROBERT is the most popular instalment of the centralised approach to exposure notification, in which the risk score is computed by a central server. GAEN, in contrast, follows the decentralised app… ▽ More We present the first formal analysis and comparison of the security of the two most widely deployed exposure notification systems, ROBERT and the Google and Apple Exposure Notification (GAEN) framework. ROBERT is the most popular instalment of the centralised approach to exposure notification, in which the risk score is computed by a central server. GAEN, in contrast, follows the decentralised approach, where the user's phone calculates the risk. The relative merits of centralised and decentralised systems have proven to be a controversial question. The majority of the previous analyses have focused on the privacy implications of these systems, ours is the first formal analysis to evaluate the security of the deployed systems -- the absence of false risk alerts. We model the French deployment of ROBERT and the most widely deployed GAEN variant, Germany's Corona-Warn-App. We isolate the precise conditions under which these systems prevent false alerts. We determine exactly how an adversary can subvert the system via network and Bluetooth sniffing, database leakage or the compromise of phones, back-end systems and health authorities. We also investigate the security of the original specification of the DP3T protocol, in order to identify gaps between the proposed scheme and its ultimate deployment. We find a total of 27 attack patterns, including many that distinguish the centralised from the decentralised approach, as well as attacks on the authorisation procedure that differentiate all three protocols. Our results suggest that ROBERT's centralised design is more vulnerable against both opportunistic and highly resourced attackers trying to perform mass-notification attacks. △ Less

Submitted 2 October, 2022; originally announced October 2022.

Comments: 23 pages, Full version of the corresponding USENIX Security '23 paper

Certified Control: An Architecture for Verifiable Safety of Autonomous Vehicles

Authors: Daniel Jackson, Valerie Richmond, Mike Wang, Jeff Chow, Uriel Guajardo, Soonho Kong, Sergio Campos, Geoffrey Litt, Nikos Arechiga

Abstract: Widespread adoption of autonomous cars will require greater confidence in their safety than is currently possible. Certified control is a new safety architecture whose goal is two-fold: to achieve a very high level of safety, and to provide a framework for justifiable confidence in that safety. The key idea is a runtime monitor that acts, along with sensor hardware and low-level control and actuat… ▽ More Widespread adoption of autonomous cars will require greater confidence in their safety than is currently possible. Certified control is a new safety architecture whose goal is two-fold: to achieve a very high level of safety, and to provide a framework for justifiable confidence in that safety. The key idea is a runtime monitor that acts, along with sensor hardware and low-level control and actuators, as a small trusted base, ensuring the safety of the system as a whole. Unfortunately, in current systems complex perception makes the verification even of a runtime monitor challenging. Unlike traditional runtime monitoring, therefore, a certified control monitor does not perform perception and analysis itself. Instead, the main controller assembles evidence that the proposed action is safe into a certificate that is then checked independently by the monitor. This exploits the classic gap between the costs of finding and checking. The controller is assigned the task of finding the certificate, and can thus use the most sophisticated algorithms available (including learning-enabled software); the monitor is assigned only the task of checking, and can thus run quickly and be smaller and formally verifiable. This paper explains the key ideas of certified control and illustrates them with a certificate for LiDAR data and its formal verification. It shows how the architecture dramatically reduces the amount of code to be verified, providing an end-to-end safety analysis that would likely not be achievable in a traditional architecture. △ Less

Submitted 28 March, 2021; originally announced April 2021.

Comments: 18 pages + 15 page Appendix, 11 figures

Decentralized Privacy-Preserving Proximity Tracing

Authors: Carmela Troncoso, Mathias Payer, Jean-Pierre Hubaux, Marcel Salathé, James Larus, Edouard Bugnion, Wouter Lueks, Theresa Stadler, Apostolos Pyrgelis, Daniele Antonioli, Ludovic Barman, Sylvain Chatel, Kenneth Paterson, Srdjan Čapkun, David Basin, Jan Beutel, Dennis Jackson, Marc Roeschlin, Patrick Leu, Bart Preneel, Nigel Smart, Aysajan Abidin, Seda Gürses, Michael Veale, Cas Cremers , et al. (9 additional authors not shown)

Abstract: This document describes and analyzes a system for secure and privacy-preserving proximity tracing at large scale. This system, referred to as DP3T, provides a technological foundation to help slow the spread of SARS-CoV-2 by simplifying and accelerating the process of notifying people who might have been exposed to the virus so that they can take appropriate measures to break its transmission chai… ▽ More This document describes and analyzes a system for secure and privacy-preserving proximity tracing at large scale. This system, referred to as DP3T, provides a technological foundation to help slow the spread of SARS-CoV-2 by simplifying and accelerating the process of notifying people who might have been exposed to the virus so that they can take appropriate measures to break its transmission chain. The system aims to minimise privacy and security risks for individuals and communities and guarantee the highest level of data protection. The goal of our proximity tracing system is to determine who has been in close physical proximity to a COVID-19 positive person and thus exposed to the virus, without revealing the contact's identity or where the contact occurred. To achieve this goal, users run a smartphone app that continually broadcasts an ephemeral, pseudo-random ID representing the user's phone and also records the pseudo-random IDs observed from smartphones in close proximity. When a patient is diagnosed with COVID-19, she can upload pseudo-random IDs previously broadcast from her phone to a central server. Prior to the upload, all data remains exclusively on the user's phone. Other users' apps can use data from the server to locally estimate whether the device's owner was exposed to the virus through close-range physical proximity to a COVID-19 positive person who has uploaded their data. In case the app detects a high risk, it will inform the user. △ Less

Submitted 25 May, 2020; originally announced May 2020.

Comments: 46 pages, 6 figures, first published 3 April 2020 on https://github.com/DP-3T/documents where companion documents and code can be found

CryptoCam: Privacy Conscious Open Circuit Television

Authors: Gerard Wilkinson, Dan Jackson, Andrew Garbett, Reuben Kirkham, Kyle Montague

Abstract: The prevalence of Closed Circuit Television (CCTV) in today's society has given rise to an inherent asymmetry of control between the watchers and the watched. A sense of unease relating to the unobservable observer (operator) often leads to a lack of trust in the camera and its purpose, despite security cameras generally being present as a protective device. In this paper, we detail our concept of… ▽ More The prevalence of Closed Circuit Television (CCTV) in today's society has given rise to an inherent asymmetry of control between the watchers and the watched. A sense of unease relating to the unobservable observer (operator) often leads to a lack of trust in the camera and its purpose, despite security cameras generally being present as a protective device. In this paper, we detail our concept of Open Circuit Television and prototype CryptoCam, a novel system for secure sharing of video footage to individuals and potential subjects nearby. Utilizing point-of-capture encryption and wireless transfer of time-based access keys for footage, we have developed a system to encourage a more open approach to information sharing and consumption. Detailing concerns highlighted in existing literature we formalize our over-arching concept into a framework called Open Circuit Television (OCTV). Through CryptoCam we hope to address this asymmetry of control by providing subjects with data equity, discoverability and oversight. △ Less

Submitted 18 April, 2020; originally announced April 2020.

LiftUpp: Support to develop learner performance

Authors: Frans A. Oliehoek, Rahul Savani, Elliot Adderton, Xia Cui, David Jackson, Phil Jimmieson, John Christopher Jones, Keith Kennedy, Ben Mason, Adam Plumbley, Luke Dawson

Abstract: Various motivations exist to move away from the simple assessment of knowledge towards the more complex assessment and development of competence. However, to accommodate such a change, high demands are put on the supporting e-infrastructure in terms of intelligently collecting and analysing data. In this paper, we discuss these challenges and how they are being addressed by LiftUpp, a system that… ▽ More Various motivations exist to move away from the simple assessment of knowledge towards the more complex assessment and development of competence. However, to accommodate such a change, high demands are put on the supporting e-infrastructure in terms of intelligently collecting and analysing data. In this paper, we discuss these challenges and how they are being addressed by LiftUpp, a system that is now used in 70% of UK dental schools, and is finding wider applications in physiotherapy, medicine and veterinary science. We describe how data is collected for workplace-based development in dentistry using a dedicated iPad app, which enables an integrated approach to linking and assessing work flows, skills and learning outcomes. Furthermore, we detail how the various forms of collected data can be fused, visualized and integrated with conventional forms of assessment. This enables curriculum integration, improved real-time student feedback, support for administration, and informed instructional planning. Together these facets contribute to better support for the development of learners' competence in situated learning setting, as well as an improved experience. Finally, we discuss several directions for future research on intelligent teaching systems that are afforded by using the design present within LiftUpp. △ Less

Submitted 21 April, 2017; originally announced April 2017.

Comments: Short 4-page version to appear at AIED 2017

Relational Approach to Knowledge Engineering for POMDP-based Assistance Systems as a Translation of a Psychological Model

Authors: Marek Grzes, Jesse Hoey, Shehroz Khan, Alex Mihailidis, Stephen Czarnuch, Dan Jackson, Andrew Monk

Abstract: Assistive systems for persons with cognitive disabilities (e.g. dementia) are difficult to build due to the wide range of different approaches people can take to accomplishing the same task, and the significant uncertainties that arise from both the unpredictability of client's behaviours and from noise in sensor readings. Partially observable Markov decision process (POMDP) models have been used… ▽ More Assistive systems for persons with cognitive disabilities (e.g. dementia) are difficult to build due to the wide range of different approaches people can take to accomplishing the same task, and the significant uncertainties that arise from both the unpredictability of client's behaviours and from noise in sensor readings. Partially observable Markov decision process (POMDP) models have been used successfully as the reasoning engine behind such assistive systems for small multi-step tasks such as hand washing. POMDP models are a powerful, yet flexible framework for modelling assistance that can deal with uncertainty and utility. Unfortunately, POMDPs usually require a very labour intensive, manual procedure for their definition and construction. Our previous work has described a knowledge driven method for automatically generating POMDP activity recognition and context sensitive prompting systems for complex tasks. We call the resulting POMDP a SNAP (SyNdetic Assistance Process). The spreadsheet-like result of the analysis does not correspond to the POMDP model directly and the translation to a formal POMDP representation is required. To date, this translation had to be performed manually by a trained POMDP expert. In this paper, we formalise and automate this translation process using a probabilistic relational model (PRM) encoded in a relational database. We demonstrate the method by eliciting three assistance tasks from non-experts. We validate the resulting POMDP models using case-based simulations to show that they are reasonable for the domains. We also show a complete case study of a designer specifying one database, including an evaluation in a real-life experiment with a human actor. △ Less

Submitted 25 June, 2012; originally announced June 2012.

Comment: Citation Statistics

Authors: Sune Lehmann, Benny E. Lautrup, Andrew D. Jackson

Abstract: We discuss the paper "Citation Statistics" by the Joint Committee on Quantitative Assessment of Research [arXiv:0910.3529]. In particular, we focus on a necessary feature of "good" measures for ranking scientific authors: that good measures must able to accurately distinguish between authors. We discuss the paper "Citation Statistics" by the Joint Committee on Quantitative Assessment of Research [arXiv:0910.3529]. In particular, we focus on a necessary feature of "good" measures for ranking scientific authors: that good measures must able to accurately distinguish between authors. △ Less

Submitted 19 October, 2009; originally announced October 2009.

Comments: Published in at http://dx.doi.org/10.1214/09-STS285B the Statistical Science (http://www.imstat.org/sts/) by the Institute of Mathematical Statistics (http://www.imstat.org)

Report number: IMS-STS-STS285B

Journal ref: Statistical Science 2009, Vol. 24, No. 1, 17-20

Knowledge Flow Analysis for Security Protocols

Authors: Emina Torlak, Marten van Dijk, Blaise Gassend, Daniel Jackson, Srinivas Devadas

Abstract: Knowledge flow analysis offers a simple and flexible way to find flaws in security protocols. A protocol is described by a collection of rules constraining the propagation of knowledge amongst principals. Because this characterization corresponds closely to informal descriptions of protocols, it allows a succinct and natural formalization; because it abstracts away message ordering, and handles… ▽ More Knowledge flow analysis offers a simple and flexible way to find flaws in security protocols. A protocol is described by a collection of rules constraining the propagation of knowledge amongst principals. Because this characterization corresponds closely to informal descriptions of protocols, it allows a succinct and natural formalization; because it abstracts away message ordering, and handles communications between principals and applications of cryptographic primitives uniformly, it is readily represented in a standard logic. A generic framework in the Alloy modelling language is presented, and instantiated for two standard protocols, and a new key management scheme. △ Less

Submitted 24 May, 2006; originally announced May 2006.

Comments: 20 pages

Report number: MIT-CSAIL-TR-2005-066