Robot learning is a research field at the intersection of machine learning and robotics. It studies techniques allowing a robot to acquire novel skills or adapt to its environment through learning algorithms. The embodiment of the robot, situated in a physical embedding, provides at the same time specific difficulties (e.g. high-dimensionality, real time constraints for collecting data and learning) and opportunities for guiding the learning process (e.g. sensorimotor synergies, motor primitives). Example of skills that are targeted by learning algorithms include sensorimotor skills such as locomotion, grasping, active object categorization, as well as interactive skills such as joint manipulation of an object with a human peer, and linguistic skills such as the grounded and situated meaning of human language. Learning can happen either through autonomous self-exploration or through guidance from a human teacher, like for example in robot learning by imitation. Robot learning can be closely related to adaptive control, reinforcement learning as well as developmental robotics which considers the problem of autonomous lifelong acquisition of repertoires of skills. While machine learning is frequently used by computer vision algorithms employed in the context of robotics, these applications are usually not referred to as "robot learning". == Imitation learning == Many research groups are developing techniques where robots learn by imitating. This includes various techniques for learning from demonstration (sometimes also referred to as "programming by demonstration") and observational learning. == Sharing learned skills and knowledge == In Tellex's "Million Object Challenge", the goal is robots that learn how to spot and handle simple items and upload their data to the cloud to allow other robots to analyze and use the information. RoboBrain is a knowledge engine for robots which can be freely accessed by any device wishing to carry out a task. The database gathers new information about tasks as robots perform them, by searching the Internet, interpreting natural language text, images, and videos, object recognition as well as interaction. The project is led by Ashutosh Saxena at Stanford University. RoboEarth is a project that has been described as a "World Wide Web for robots" − it is a network and database repository where robots can share information and learn from each other and a cloud for outsourcing heavy computation tasks. The project brings together researchers from five major universities in Germany, the Netherlands and Spain and is backed by the European Union. Google Research, DeepMind, and Google X have decided to allow their robots share their experiences. == Vision-language-action model == Research groups and companies are developing vision-language-action models, foundation models that allow robotic control through the combination of vision and language. Google DeepMind, Figure AI and Hugging Face are actively working on that.
Voice activity detection
Voice activity detection (VAD), also known as speech activity detection or speech detection, is the detection of the presence or absence of human speech, used in speech processing. The main uses of VAD are in speaker diarization, speech coding and speech recognition. It can facilitate speech processing, and can also be used to deactivate some processes during non-speech section of an audio session: it can avoid unnecessary coding/transmission of silence packets in Voice over Internet Protocol (VoIP) applications, saving on computation and on network bandwidth. VAD is an important enabling technology for a variety of speech-based applications. Therefore, various VAD algorithms have been developed that provide varying features and compromises between latency, sensitivity, accuracy and computational cost. Some VAD algorithms also provide further analysis, for example whether the speech is voiced, unvoiced or sustained. Voice activity detection is usually independent of language. It was first investigated for use on time-assignment speech interpolation (TASI) systems. == Algorithm overview == The typical design of a VAD algorithm is as follows: There may first be a noise reduction stage, e.g. via spectral subtraction. Then some features or quantities are calculated from a section of the input signal. A classification rule is applied to classify the section as speech or non-speech – often this classification rule finds when a value exceeds a certain threshold. There may be some feedback in this sequence, in which the VAD decision is used to improve the noise estimate in the noise reduction stage, or to adaptively vary the threshold(s). These feedback operations improve the VAD performance in non-stationary noise (i.e. when the noise varies a lot). A representative set of recently published VAD methods formulates the decision rule on a frame by frame basis using instantaneous measures of the divergence distance between speech and noise. The different measures which are used in VAD methods include spectral slope, correlation coefficients, log likelihood ratio, cepstral, weighted cepstral, and modified distance measures. Independently from the choice of VAD algorithm, a compromise must be made between having voice detected as noise, or noise detected as voice (between false positive and false negative). A VAD operating in a mobile phone must be able to detect speech in the presence of a range of very diverse types of acoustic background noise. In these difficult detection conditions it is often preferable that a VAD should fail-safe, indicating speech detected when the decision is in doubt, to lower the chance of losing speech segments. The biggest difficulty in the detection of speech in this environment is the very low signal-to-noise ratios (SNRs) that are encountered. It may be impossible to distinguish between speech and noise using simple level detection techniques when parts of the speech utterance are buried below the noise. == Applications == VAD is an integral part of different speech communication systems such as audio conferencing, echo cancellation, speech recognition, speech encoding, speaker recognition and hands-free telephony. In the field of multimedia applications, VAD allows simultaneous voice and data applications. Similarly, in Universal Mobile Telecommunications Systems (UMTS), it controls and reduces the average bit rate and enhances overall coding quality of speech. In cellular radio systems (for instance GSM and CDMA systems) based on Discontinuous Transmission (DTX) mode, VAD is essential for enhancing system capacity by reducing co-channel interference and power consumption in portable digital devices. In speech processing applications, voice activity detection plays an important role since non-speech frames are often discarded. For a wide range of applications such as digital mobile radio, Digital Simultaneous Voice and Data (DSVD) or speech storage, it is desirable to provide a discontinuous transmission of speech-coding parameters. Advantages can include lower average power consumption in mobile handsets, higher average bit rate for simultaneous services like data transmission, or a higher capacity on storage chips. However, the improvement depends mainly on the percentage of pauses during speech and the reliability of the VAD used to detect these intervals. On the one hand, it is advantageous to have a low percentage of speech activity. On the other hand, clipping, that is the loss of milliseconds of active speech, should be minimized to preserve quality. This is the crucial problem for a VAD algorithm under heavy noise conditions. === Use in telemarketing === One controversial application of VAD is in conjunction with predictive dialers used by telemarketing firms. In order to maximize agent productivity, telemarketing firms set up predictive dialers to call more numbers than they have agents available, knowing most calls will end up in either "Ring – No Answer" or answering machines. When a person answers, they typically speak briefly ("Hello", "Good evening", etc.) and then there is a brief period of silence. Answering machine messages are usually 3–15 seconds of continuous speech. By setting VAD parameters correctly, dialers can determine whether a person or a machine answered the call and, if it's a person, transfer the call to an available agent. If it detects an answering machine message, the dialer hangs up. Often, even when the system correctly detects a person answering the call, no agent may be available, resulting in a "silent call". Call screening with a multi-second message like "please say who you are, and I may pick up the phone" will frustrate such automated calls. == Performance evaluation == To evaluate a VAD, its output using test recordings is compared with those of an "ideal" VAD – created by hand-annotating the presence or absence of voice in the recordings. The performance of a VAD is commonly evaluated on the basis of the following four parameters: FEC (Front End Clipping): clipping introduced in passing from noise to speech activity; MSC (Mid Speech Clipping): clipping due to speech misclassified as noise; OVER: noise interpreted as speech due to the VAD flag remaining active in passing from speech activity to noise; NDS (Noise Detected as Speech): noise interpreted as speech within a silence period. Although the method described above provides useful objective information concerning the performance of a VAD, it is only an approximate measure of the subjective effect. For example, the effects of speech signal clipping can at times be hidden by the presence of background noise, depending on the model chosen for the comfort noise synthesis, so some of the clipping measured with objective tests is in reality not audible. It is therefore important to carry out subjective tests on VADs, the main aim of which is to ensure that the clipping perceived is acceptable. In VoIP applications, front-end clipping can be reduced by rewinding to shortly before the detection and sending very slightly delayed data. This kind of test requires a certain number of listeners to judge recordings containing the processing results of the VADs being tested, giving marks to several speech sequences on the following features: Quality; Comprehension difficulty; Audibility of clipping. These marks are then used to calculate average results for each of the features listed above, thus providing a global estimate of the behavior of the VAD being tested. To conclude, whereas objective methods are very useful in an initial stage to evaluate the quality of a VAD, subjective methods are more significant. As they require the participation of several people for a few days, increasing cost, they are generally only used when a proposal is about to be standardized. == Implementations == One early standard VAD is that developed by British Telecom for use in the Pan-European digital cellular mobile telephone service in 1991. It uses inverse filtering trained on non-speech segments to filter out background noise, so that it can then more reliably use a simple power-threshold to decide if a voice is present. The G.729 standard calculates the following features for its VAD: line spectral frequencies, full-band energy, low-band energy (<1 kHz), and zero-crossing rate. It applies a simple classification using a fixed decision boundary in the space defined by these features, and then applies smoothing and adaptive correction to improve the estimate. The GSM standard includes two VAD options developed by ETSI. Option 1 computes the SNR in nine bands and applies a threshold to these values. Option 2 calculates different parameters: channel power, voice metrics, and noise power. It then thresholds the voice metrics using a threshold that varies according to the estimated SNR. The Speex audio compression library uses a procedure named Improved Minima Controlled Recursive Averaging, which uses a smoothed representation of spectral pow
Probiv
Probiv (Russian: пробив, literally "to pierce" or "to punch through") is an illicit data market operating primarily in Russia, where personal information from restricted government and corporate databases is bought and sold through networks of corrupt officials and insiders. The probiv market operates as a parallel information economy built on corrupt officials from various sectors including traffic police, banks, telecommunications companies, and security services who sell access to restricted databases. For fees ranging from as little as $10 to several hundred dollars, buyers can obtain passport numbers, addresses, travel histories, vehicle registrations, and telecommunications records. The market operates through various channels, including specialized Telegram bots and darknet forums. == Notable uses == Probiv services have been utilized by diverse actors for various purposes. Investigative journalists have used the market to conduct high-profile investigations, including tracing the FSB unit allegedly behind the poisoning of Alexei Navalny. Russian police and security services themselves have routinely used the black market to track activists and opposition figures. Since Russia's invasion of Ukraine, Ukrainian intelligence services have exploited the market to identify Russian military officials. == Government response == In late 2024, Russian authorities introduced legislation imposing penalties of up to ten years in prison for accessing or distributing leaked data. Several operators of probiv services, including the teams behind Usersbox and Solaris, have been arrested. However, the crackdown appears to have had unintended consequences. Many operators have relocated their businesses abroad, where they operate with fewer constraints. Some services that previously cooperated with Russian authorities have severed those ties and moved staff out of the country.
BeyondCorp
BeyondCorp is an implementation of zero-trust computer security concepts creating a zero trust network. It is created by Google. == Background == It was created in response to the 2009 Operation Aurora. An open source implementation inspired by Google's research paper on an access proxy is known as "transcend". Google documented its Zero Trust journey from 2014 to 2018 through a series of articles in the journal ;login:. Google called their ZT network "BeyondCorp". Google implemented a Zero Trust architecture on a large scale, and relied on user and device credentials, regardless of location. Data was encrypted and protected from managed devices. Unmanaged devices, such as BYOD, were not given access to the BeyondCorp resources. == Design and technology == BeyondCorp utilized a zero trust security model, which is a relatively new security model that it assumes that all devices and users are potentially compromised. This is in contrast to traditional security models, which rely on firewalls and other perimeter defenses to protect sensitive data. === Trust === The corporate network grants no inherent trust, and all internal apps are accessed via the BeyondCorp system, regardless of whether the user is in a Google office or working remotely. BeyondCorp is related to Zero Trust architecture as it implements a true Zero Trust network, where all access is granted on identity, device, and authentication, based on robust underlying device and identity data sources. BeyondCorp works by using a number of security policies including authentication, authorization, and access control to ensure that only authorized users can access corporate resources. Authentication verifies the identity of the user, authorization determines whether the user has permission to access the requested resource, and access control policies restrict what the user can do with the resource. ==== Trust Inferrer ==== One of the main components in BeyondCorp's implementation is the Trust Inferrer. The Trust Inferrer is a security component (typically software) that looks at information about a user's device, like a computer or phone, to decide how much it can be trusted to access certain resources like important company documents. The Trust Inferrer checks things like the security of the device, whether it has the right software installed, and if it belongs to an authorized user. Based on all this information, the Trust Inferrer decides what the device can access and what it can't. === Security mechanisms === Unlike traditional VPNs, BeyondCorp's access policies are based on information about a device, its state, and its associated user. BeyondCorp considers both internal networks and external networks to be completely untrusted, and gates access to applications by dynamically asserting and enforcing levels, or “tiers,” of access. === Device Inventory Database === BeyondCorp utilized a Device Inventory Database and Device Identity that uniquely identifies a device through a digital certificate. Any changes to the device are recorded in the Device Inventory Database. The certificate is used to uniquely identify a device; however, additional information is required to grant access privileges to a resource. === Access Control Engine === Another important component of BeyondCorp's implementation is the Access Control Engine. Think of this as the brain of the Zero Trust architecture. The Access Control Engine is like a traffic cop standing at an intersection. Its job is to make sure that only authorized devices and users are allowed to access specific resources (like files or applications) on the network. It checks the access policy (the rules that say who can access what), the device's state (like whether it has the right software updates or security settings), and the resources being requested. Then it makes a decision on whether to grant or deny access based on all of this information. It helps ensure that only the right people and devices are allowed access to the network, which helps keep things secure. The Access Control Engine utilizes the output from the Trust Inferrer and other data that is fed into its system. == Usage == One of the first things Google did to implement a Zero Trust architecture was to capture and analyze network traffic. The purpose of analyzing the traffic was to build a baseline of what typical network traffic looked like. In doing so, BeyondCorp also discovered unusual, unexpected, and unauthorized traffic. This was very useful because it gave the BeyondCorp engineers critical information that assisted them in reengineering the system in a secure manner. Some of the benefits BeyondCorp realized by adopting a Zero Trust architecture include the ability to allow their employees to work securely from any location. It reduces the risk of data breaches since data and applications are protected and users and devices are constantly being verified. The Zero Trust architecture is scalable and can be adapted to the changing needs of the businesses and their users. Especially relevant in today's work-from-home era, BeyondCorp allows employees to access enterprise resources securely from any location, without the need for traditional VPNs.
Metadata repository
A metadata repository is a database created to store metadata. Metadata is information about the structures that contain the actual data. Metadata is often said to be "data about data", but this is misleading. Data profiles are an example of actual "data about data". Metadata adds one layer of abstraction to this definition– it is data about the structures that contain data. Metadata may describe the structure of any data, of any subject, stored in any format. A well-designed metadata repository typically contains data far beyond simple definitions of the various data structures. Typical repositories store dozens to hundreds of separate pieces of information about each data structure. Comparing the metadata of a couple data items - one digital and one physical - clarify what metadata is: First, digital: For data stored in a database one may have a table called "Patient" with many columns, each containing data which describes a different attribute of each patient. One of these columns may be named "Patient_Last_Name". What is some of the metadata about the column that contains the actual surnames of patients in the database? We have already used two items: the name of the column that contains the data (Patient_Last_Name) and the name of the table that contains the column (Patient). Other metadata might include the maximum length of last name that may be entered, whether or not last name is required (can we have a patient without Patient_Last_Name?), and whether the database converts any surnames entered in lower case to upper case. Metadata of a security nature may show the restrictions which limit who may view these names. Second, physical: For data stored in a brick and mortar library, one have many volumes and may have various media, including books. Metadata about books would include ISBN, Binding_Type, Page_Count, Author, etc. Within Binding_Type, metadata would include possible bindings, material, etc. This contextual information of business data include meaning and content, policies that govern, technical attributes, specifications that transform, and programs that manipulate. == Definition == The metadata repository is responsible for physically storing and cataloging metadata. Data in a metadata repository should be generic, integrated, current, and historical: Generic Meta model should store the metadata by generic terms instead of storing it by an applications-specific defined way, so that if your data base standard changes from one product to another the physical meta model of the metadata repository would not need to change. Integration of the metadata repository allows all business areas' metadata to be in an integrated fashion: Covering all domains and subject areas of the organization. current and historical The metadata repository should have accessible current and historical metadata. Metadata repositories used to be referred to as a data dictionary. With the transition of needs for the metadata usage for business intelligence has increased so is the scope of the metadata repository increased. Earlier data dictionaries are the closest place to interact technology with business. Data dictionaries are the universe of metadata repository in the initial stages but as the scope increased Business glossary and their tags to variety of status flags emerged in the business side while consumption of the technology metadata, their lineage and linkages made the repository, the source for valuable reports to bring business and technology together and helped data management decisions easier as well as assess the cost of the changes. Metadata repository explores the enterprise wide data governance, data quality and master data management (includes master data and reference data) and integrates this wealth of information with integrated metadata across the organization to provide decision support system for data structures, even though it only reflects the structures consumed from various systems. == Repository vs. registry == Repository has additional functionalities compared with registry. Metadata repository not only stores metadata like Metadata registry but also adds relationships with related metadata types. Metadata when related in a flow from its point of entry into organization up to the deliverables is considered as the lineage of that data point. Metadata when related across other related metadata types is called linkages. By providing the relationships to all the metadata points across the organization and maintaining its integrity with an architecture to handle the changes, metadata repository provides the basic material for understanding the complete data flow and their definitions and their impact. Also the important feature is to maintain the version control though this statement for contrasting is open for discussion. These definitions are still evolving, so the accuracy of the definitions needs refinement. The purpose of registry is to define the metadata element and maintained across the organization. And data models and other data management teams refer to the registry for any changes to follow. While Metadata repository sources metadata from various metadata systems in the organizations and reflects what is in the upstream. Repository never acts as an upstream while registry is used as an upstream for metadata changes. == Reason for use == Metadata repository enables all the structure of the organizations data containers to one integrated place. This opens plethora of resourceful information for making calculated business decisions. This tool uses one generic form of data model to integrate all the models thus brings all the applications and programs of the organization into one format. And on top of it applying the business definitions and business processes brings the business and technology closer that will help organizations make reliable roadmaps with definite goals. With one stop information, business will have more control on the changes, and can do impact analysis of the tool. Usually business spends much time and money to make decisions based on discovery and research on impacts to make changes or to add new data structures or remove structures in data management of the organization. With a structured and well maintained repository, moving the product from ideation to delivery takes the least amount of time (considering other variables are constant). To sum it up: Integration of the metadata across the organization Build relationship between various metadata types Build relationship between various disparate systems Define business golden copy of definitions Version control of the changes at structure level Interaction with Reference data Link view to master data Automatic synchronization with various authorized metadata source systems More control to business decisions Validate the structures by overlapping the models Discovering discrepancies, gaps, lineage, metrics at data structure level Each database management system (DBMS) and database tools have their own language for the metadata components within. Database applications already have their own repositories or registries that are expected to provide all of the necessary functionality to access the data stored within. Vendors do not want other companies to be capable of easily migrating data away from their products and into competitors products, so they are proprietary with the way they handle metadata. CASE tools, DBMS dictionaries, ETL tools, data cleansing tools, OLAP tools, and data mining tools all handle and store metadata differently. Only a metadata repository can be designed to store the metadata components from all of these tools. == Design == Metadata repositories should store metadata in four classifications: ownership, descriptive characteristics, rules and policies, and physical characteristics. Ownership, showing the data owner and the application owner. The descriptive characteristics, define the names, types and lengths, and definitions describing business data or business processes. Rules and policies, will define security, data cleanliness, timelines for data, and relationships. Physical characteristics define the origin or source, and physical location. Like building a logical data model for creating a database, a logical meta model can help identify the metadata requirements for business data. The metadata repository will be centralized, decentralized, or distributed. A centralized design means that there is one database for the metadata repository that stores metadata for all applications business wide. A centralized metadata repository has the same advantages and disadvantages of a centralized database. Easier to manage because all the data is in one database, but the disadvantage is that bottlenecks may occur. A decentralized metadata repository stores metadata in multiple databases, either separated by location and or departments of the business. This makes management of the repository more involved than a centraliz
List of Haskell software and tools
This is a list of Haskell software and tools, including compilers, interpreters, build tools, package managers, integrated development environments, libraries, and other development utilities. == Compilers, interpreters and editors == Emacs — text editor Glasgow Haskell Compiler (GHC) Hugs — bytecode interpreter (discontinued) IntelliJ IDEA — IDE with Haskell support via plugins Vim — text editor Visual Studio Code — editor/IDE with Haskell support via extensions == Libraries and frameworks == Parsec — parser combinator library Servant — web framework Yesod — web framework == Build tools and package management == Cabal — build system and packaging infrastructure Haskell Platform — bundled distribution of Haskell tools and libraries (deprecated) Stack — build tool and dependency manager == Language tools and static analysis == Fourmolu — code formatter based on Ormolu Haskell Language Server — implementation of the Language Server Protocol for Haskell HLint — source code suggestion and linting tool Hoogle — Haskell API search engine Ormolu — code formatter Stan — static analysis tool Stylish Haskell — source code formatter == Interactive environments == GHCi — interactive REPL for the Glasgow Haskell Compiler IHaskell — Jupyter kernel for Haskell == Debugging and profiling tools == hp2ps — heap profiling visualization tool ThreadScope — parallel execution visualizer for Haskell programs == Documentation generators == Haddock — API documentation generator for Haskell == Parser and lexer generators == Alex — lexer generator for Haskell Happy — parser generator for Haskell == Testing frameworks == HUnit — unit testing framework QuickCheck — property-based testing library == Version control == Darcs — distributed version control system written in Haskell
Resilience week
Resilience week is an annual symposium established to enable cross-disciplinary and role based discussions to advance strategies and research that engenders resilience in critical infrastructure systems and communities. Damaging storms, cyber attack and the interconnection of critical infrastructure systems can lead to cascading events that not only affect local but also across regions. However, many of these interdependencies are not easily recognized and obscure and complicate the mitigation of risk. The purpose of the symposia series is hence to facilitate best practice in managing critical infrastructure risks, by bringing together businesses, government and researchers. == Background == Originally organized in 2008 as a focus on the new research area of resilient control systems, including the disciplinary areas of control system, cyber-security, cognitive psychology and any number of critical infrastructure domains. Resilience has long been recognized as an area that requires not only the contributions of multiple disciplines or multidisciplinary participation, but interdisciplinary interaction where there is a common language and familiarity of the contributors to what other disciplines (and roles) contribute. The resulting interactions developed by Resilience Week and associated activities are intended to culture this sharing environment as a safe zone for inclusion; more importantly, an environment that lends to developing the new science and practice. As the attributes of resilience are complex, the contributions and topics for the event have included both the disciplinary and the project considerations, in keynotes, panels and research presentations. Keynotes have included senior leadership in the Department of Energy, Department of Defense, Department of Homeland Security, the National Science Foundation, and other agencies in addition to National Academy and professional organization fellows and senior industry leaders. Project panels and research presentations include emergent topics in resilience to climate change, cyber attack, damaging storms and the energy assurance. Topics Areas of focus have included: Control Systems Cyber Systems Cognitive Systems Communications Systems Communities and Infrastructure Project Focus Areas have included: Dependencies and Interdependencies Cyber Resilience for Operating Technology Commercializing Research and Development Building Critical Infrastructure Resilience through Distributed Energy Resources Energy Equity and Community Resilience Proceedings are developed for each year of the event, documenting the diversity of the research and engagements within these topical areas. == Impacts for the future == Since its inception, the Resilience Week community has evolved from one that primarily included only university researchers to one that includes many government laboratories, universities and private industries in the US and internationally. This type of collaboration forms a feedback loop that informs the research with the current needs and hones best practices. The future of the event is to further advance discussions that advance investment, recognize priorities and expedite technologies and tools to proactively address our energy future, in light of the natural and manmade challenges, and rationalizing the complex relationships that exist in critical infrastructure.