Robustness | EPFL Graph Search

Robustness is the property of being strong and healthy in constitution. When it is transposed into a system, it refers to the ability of tolerating perturbations that might affect the system's functional body. In the same line robustness can be defined as "the ability of a system to resist change without adapting its initial stable configuration". "Robustness in the small" refers to situations wherein perturbations are small in magnitude, which considers that the "small" magnitude hypothesis can be difficult to verify because "small" or "large" depends on the specific problem. Conversely, "Robustness in the large problem" refers to situations wherein no assumptions can be made about the magnitude of perturbations, which can either be small or large. It has been discussed that robustness has two dimensions: resistance and avoidance. See also

Fault-tolerant system
Resilience (disambiguation)
Robustness principle

Experimental indoors localization using distance measurements obtained from visual data

Yuan Yao

In recent years, the emergence of artificial intelligence increases the demand of automatic and robust localization outdoors and indoors. While GPS provides enough accuracy in most outdoor cases, there is still a lack of robust and efficient indoor localization systems available on the market. In this report, an experimental framework for indoor localization is developed and tested. To operate an automatic robot owned by LCAV laboratory, two different operation modes have been successfully implemented, including controlling a robot in real-time or with extra input containing a list of commands. Also, a new visual fiducial system have been developed, and is able to capture the locations of Apriltags inside a room accurately. Multidimensional scaling (MDS) and Squared range least square (SRLS) algorithms containing distance information will also be introduced and the final localization result is within 2% error of tolerance compared with the ground truth results measured by a laser meter.

2017

Towards Verifiable, Generalizable and Efficient Robust Deep Neural Networks.

Chen Liu

In the last decade, deep neural networks have achieved tremendous success in many fields of machine learning.However, they are shown vulnerable against adversarial attacks: well-designed, yet imperceptible, perturbations can make the state-of-the-art deep neural networks output incorrect results.Understanding adversarial attacks and designing algorithms to make deep neural networks robust against these attacks are key steps to building reliable artificial intelligence in real-life applications.In this thesis, we will first formulate the robust learning problem.Based on the notations of empirical robustness and verified robustness, we design new algorithms to achieve both of these types of robustness.Specifically, we investigate the robust learning problem from the optimization perspectives.Compared with classic empirical risk minimization, we show the slow convergence and large generalization gap in robust learning.Our theoretical and numerical analysis indicates that these challenges arise, respectively, from non-smooth loss landscapes and model's fitting hard adversarial instances.Our insights shed some light on designing algorithms for mitigating these challenges.Robust learning has other challenges, such as large model capacity requirements and high computational complexity.To solve the model capacity issue, we combine robust learning with model compression.We design an algorithm to obtain sparse and binary neural networks and make it robust.To decrease the computational complexity, we accelerate the existing adversarial training algorithm and preserve its performance stability.In addition to making models robust, our research provides other benefits.Our methods demonstrate that robust models, compared with non-robust ones, usually utilize input features in a way more similar to the way human beings use them, hence the robust models are more interpretable.To obtain verified robustness, our methods indicate the geometric similarity of the decision boundaries near data points.Our approaches towards reliable artificial intelligence can not only render deep neural networks more robust in safety-critical applications but also make us better aware of how they work.

EPFL2022

Local Vulnerabilities and Global Robustness of Coupled Dynamical Systems on Complex Networks

Melvyn Sandy Tyloo

Coupled dynamical systems are omnipresent in everyday life. In general, interactions between individual elements composing the system are captured by complex networks. The latter greatly impact the way coupled systems are functioning and evolving in time. An important task in such a context, is to identify the most fragile components of a system in a fast and efficient manner. It is also highly desirable to have bounds on the amplitude and duration of perturbations that could potentially drive the system through a transition from one equi- librium to another. A paradigmatic model of coupled dynamical system is that of oscillatory networks. In these systems, a phenomenon known as synchronization where the individual elements start to behave coherently may occur if couplings are strong enough. We propose frameworks to assess vulnerabilities of such synchronous states to external perturbations. We consider transient excursions for both small-signal response and larger perturbations that can potentially drive the system out of its initial basin of attraction. In the first part of this thesis, we investigate the robustness of complex network-coupled oscillators. We consider transient excursions following external perturbations. For ensemble averaged perturbations, quite remarkably we find that robustness of a network is given by a family of network descriptors that we called generalized Kirchhoff indices and which are defined from extensions of the resistance distance to arbitrary powers of the Laplacian matrix of the system. These indices allow an efficient and accurate assessment of the overall vulnera- bility of an oscillatory network and can be used to compare robustness of different networks. Moreover, a network can be made more robust by minimizing its Kirchhoff indices. Then for specific local perturbations, we show that local vulnerabilities are captured by generalized resistance centralities also defined from extensions of the resistance distance. Most fragile nodes are therefore identified as the least central according to resistance centralities. Based on the latter, rankings of the nodes from most to least vulnerable can be established. In summary, we find that both local vulnerabilities and global robustness are accurately evaluated with resistance centralities and Kirchhoff indices. Moreover, the framework that we define is rather general and may be useful to analyze other coupled dynamical systems. In the second part, we focus on the effect of larger perturbations that eventually lead the sys- tem to an escape from its initial basin of attraction. We consider coupled oscillators subjected to noise with various amplitudes and correlation in time. To predict desynchronization and transitions between synchronous states, we propose a simple heuristic criterion based on the distance between the initial stable fixed point and the closest saddle point. Surprisingly, we find numerically that our criterion leads to rather accurate estimates for the survival probability and first escape time. Our criterion is general and may be applied to other dynamical systems.

EPFL2020