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1. Over-the-Air Collaborative Learning in Joint Decision Making

   Feres, Carlos ; Levy, Bernard C. ; Ding, Zhi ( January 2022 , IEEE Global Communications Conference)

   We propose an over-the-air learning framework for collaborative decision making in wireless sensor networks. The low complexity framework leverages low-latency sensor transmission for a decision server to coordinate measurement sensors for hypothesis testing through over-the-air aggregation of sensor data over a multiple-access channel. We formulate several collaborative over-the-air hypothesis testing problems under different practical protocols for collaborative learning and decision making. We develop hypothesis tests for these network protocols and deployment scenarios including channel fading. We provide performance benchmark for both basic likelihood ratio test and generalized likelihood ratio test under different deployment conditions. Our results clearly demonstrate gain provided by increasing number of collaborative sensors. 

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2. Bayesian Decision Making via Over-the-Air Soft Information Aggregation

   Feres, Carlos ; Levy, Bernard C. ; Ding, Zhi ( May 2023 , IEEE International Conference on Communications)

   This work formulates a collaborative decision making framework that exploits over-the-air computation to efficiently aggregate soft information from distributed sensors. This new AirCompFDM protocol approximates the sufficient statistic (SS) of optimum binary hypothesis testing at a server node in this distributed sensing environment under different operation constraints. Leveraging pre/post-processing functions on over-the-air aggregation of sensor log-likelihood ratios, AirCompFDM significantly improves bandwidth efficiency with little detection loss, even from modest numbers of participating sensors and imperfect phase pre-compensation. Without phase pre-compensation, the benefit of over-the-air sensor aggregation diminishes but still can mitigate the effect of channel noise. Importantly, AirCompFDM outperforms the traditional bandwidth hungry polling scheme, even under low SNR. Furthermore, we analyze the Chernoff information and obtain the approximate effect of sensor aggregation on the probability of detection error that can help develop advanced detection strategies. 

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3. The Effects of Gist Information and Scientific Quality on Damages in a Civil Trial

   Dellapaolera, K.S. ( March 2020 , Annual Conference of the American Psychology-Law Society.)

   Abstract: 100 words Jurors are increasingly exposed to scientific information in the courtroom. To determine whether providing jurors with gist information would assist in their ability to make well-informed decisions, the present experiment utilized a Fuzzy Trace Theory-inspired intervention and tested it against traditional legal safeguards (i.e., judge instructions) by varying the scientific quality of the evidence. The results indicate that jurors who viewed high quality evidence rated the scientific evidence significantly higher than those who viewed low quality evidence, but were unable to moderate the credibility of the expert witness and apply damages appropriately resulting in poor calibration. Summary: <1000 words Jurors and juries are increasingly exposed to scientific information in the courtroom and it remains unclear when they will base their decisions on a reasonable understanding of the relevant scientific information. Without such knowledge, the ability of jurors and juries to make well-informed decisions may be at risk, increasing chances of unjust outcomes (e.g., false convictions in criminal cases). Therefore, there is a critical need to understand conditions that affect jurors’ and juries’ sensitivity to the qualities of scientific information and to identify safeguards that can assist with scientific calibration in the courtroom. The current project addresses these issues with an ecologically valid experimental paradigm, making it possible to assess causal effects of evidence quality and safeguards as well as the role of a host of individual difference variables that may affect perceptions of testimony by scientific experts as well as liability in a civil case. Our main goal was to develop a simple, theoretically grounded tool to enable triers of fact (individual jurors) with a range of scientific reasoning abilities to appropriately weigh scientific evidence in court. We did so by testing a Fuzzy Trace Theory-inspired intervention in court, and testing it against traditional legal safeguards. Appropriate use of scientific evidence reflects good calibration – which we define as being influenced more by strong scientific information than by weak scientific information. Inappropriate use reflects poor calibration – defined as relative insensitivity to the strength of scientific information. Fuzzy Trace Theory (Reyna & Brainerd, 1995) predicts that techniques for improving calibration can come from presentation of easy-to-interpret, bottom-line “gist” of the information. Our central hypothesis was that laypeople’s appropriate use of scientific information would be moderated both by external situational conditions (e.g., quality of the scientific information itself, a decision aid designed to convey clearly the “gist” of the information) and individual differences among people (e.g., scientific reasoning skills, cognitive reflection tendencies, numeracy, need for cognition, attitudes toward and trust in science). Identifying factors that promote jurors’ appropriate understanding of and reliance on scientific information will contribute to general theories of reasoning based on scientific evidence, while also providing an evidence-based framework for improving the courts’ use of scientific information. All hypotheses were preregistered on the Open Science Framework. Method Participants completed six questionnaires (counterbalanced): Need for Cognition Scale (NCS; 18 items), Cognitive Reflection Test (CRT; 7 items), Abbreviated Numeracy Scale (ABS; 6 items), Scientific Reasoning Scale (SRS; 11 items), Trust in Science (TIS; 29 items), and Attitudes towards Science (ATS; 7 items). Participants then viewed a video depicting a civil trial in which the defendant sought damages from the plaintiff for injuries caused by a fall. The defendant (bar patron) alleged that the plaintiff (bartender) pushed him, causing him to fall and hit his head on the hard floor. Participants were informed at the outset that the defendant was liable; therefore, their task was to determine if the plaintiff should be compensated. Participants were randomly assigned to 1 of 6 experimental conditions: 2 (quality of scientific evidence: high vs. low) x 3 (safeguard to improve calibration: gist information, no-gist information [control], jury instructions). An expert witness (neuroscientist) hired by the court testified regarding the scientific strength of fMRI data (high [90 to 10 signal-to-noise ratio] vs. low [50 to 50 signal-to-noise ratio]) and gist or no-gist information both verbally (i.e., fairly high/about average) and visually (i.e., a graph). After viewing the video, participants were asked if they would like to award damages. If they indicated yes, they were asked to enter a dollar amount. Participants then completed the Positive and Negative Affect Schedule-Modified Short Form (PANAS-MSF; 16 items), expert Witness Credibility Scale (WCS; 20 items), Witness Credibility and Influence on damages for each witness, manipulation check questions, Understanding Scientific Testimony (UST; 10 items), and 3 additional measures were collected, but are beyond the scope of the current investigation. Finally, participants completed demographic questions, including questions about their scientific background and experience. The study was completed via Qualtrics, with participation from students (online vs. in-lab), MTurkers, and non-student community members. After removing those who failed attention check questions, 469 participants remained (243 men, 224 women, 2 did not specify gender) from a variety of racial and ethnic backgrounds (70.2% White, non-Hispanic). Results and Discussion There were three primary outcomes: quality of the scientific evidence, expert credibility (WCS), and damages. During initial analyses, each dependent variable was submitted to a separate 3 Gist Safeguard (safeguard, no safeguard, judge instructions) x 2 Scientific Quality (high, low) Analysis of Variance (ANOVA). Consistent with hypotheses, there was a significant main effect of scientific quality on strength of evidence, F(1, 463)=5.099, p=.024; participants who viewed the high quality evidence rated the scientific evidence significantly higher (M= 7.44) than those who viewed the low quality evidence (M=7.06). There were no significant main effects or interactions for witness credibility, indicating that the expert that provided scientific testimony was seen as equally credible regardless of scientific quality or gist safeguard. Finally, for damages, consistent with hypotheses, there was a marginally significant interaction between Gist Safeguard and Scientific Quality, F(2, 273)=2.916, p=.056. However, post hoc t-tests revealed significantly higher damages were awarded for low (M=11.50) versus high (M=10.51) scientific quality evidence F(1, 273)=3.955, p=.048 in the no gist with judge instructions safeguard condition, which was contrary to hypotheses. The data suggest that the judge instructions alone are reversing the pattern, though nonsignificant, those who received the no gist without judge instructions safeguard awarded higher damages in the high (M=11.34) versus low (M=10.84) scientific quality evidence conditions F(1, 273)=1.059, p=.30. Together, these provide promising initial results indicating that participants were able to effectively differentiate between high and low scientific quality of evidence, though inappropriately utilized the scientific evidence through their inability to discern expert credibility and apply damages, resulting in poor calibration. These results will provide the basis for more sophisticated analyses including higher order interactions with individual differences (e.g., need for cognition) as well as tests of mediation using path analyses. [References omitted but available by request] Learning Objective: Participants will be able to determine whether providing jurors with gist information would assist in their ability to award damages in a civil trial. 

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4. Exploiting Trust for Resilient Hypothesis Testing with Malicious Robots

   Cavorsi, M. ; Akgün, O.E. ; Yemini, M. ; Goldsmith, A. ; Gil, S. ( September 2022 , arXiv:2209.12285v1)

   We develop a resilient binary hypothesis testing framework for decision making in adversarial multi-robot crowdsensing tasks. This framework exploits stochastic trust observations between robots to arrive at tractable, resilient decision making at a centralized Fusion Center (FC) even when i) there exist malicious robots in the network and their number may be larger than the number of legitimate robots, and ii) the FC uses one-shot noisy measurements from all robots. We derive two algorithms to achieve this. The first is the Two Stage Approach (2SA) that estimates the legitimacy of robots based on received trust observations, and provably minimizes the probability of detection error in the worst-case malicious attack. Here, the proportion of malicious robots is known but arbitrary. For the case of an unknown proportion of malicious robots, we develop the Adversarial Generalized Likelihood Ratio Test (A-GLRT) that uses both the reported robot measurements and trust observations to estimate the trustworthiness of robots, their reporting strategy, and the correct hypothesis simultaneously. We exploit special problem structure to show that this approach remains computationally tractable despite several unknown problem parameters. We deploy both algorithms in a hardware experiment where a group of robots conducts crowdsensing of traffic conditions on a mock-up road network similar in spirit to Google Maps, subject to a Sybil attack. We extract the trust observations for each robot from actual communication signals which provide statistical information on the uniqueness of the sender. We show that even when the malicious robots are in the majority, the FC can reduce the probability of detection error to 30.5% and 29% for the 2SA and the A-GLRT respectively. 

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5. Exploiting Trust for Resilient Hypothesis Testing with Malicious Robots

   https://doi.org/10.1109/ICRA48891.2023.10160385  

   Cavorsi, Matthew ; Akgün, Orhan Eren ; Yemini, Michal ; Goldsmith, Andrea J. ; Gil, Stephanie ( May 2023 , 2023 IEEE International Conference on Robotics and Automation (ICRA))

   We develop a resilient binary hypothesis testing framework for decision making in adversarial multi-robot crowdsensing tasks. This framework exploits stochastic trust observations between robots to arrive at tractable, resilient decisionmaking at a centralized Fusion Center (FC) even when i) there exist malicious robots in the network and their number may be larger than the number of legitimate robots, and ii) the FC uses one-shot noisy measurements from all robots.We derive two algorithms to achieve this. The first is the Two Stage Approach (2SA) that estimates the legitimacy of robots based on received trust observations, and provably minimizes the probability of detection error in the worst-case malicious attack. Here, the proportion of malicious robots is known but arbitrary. For the case of an unknown proportion of malicious robots, we develop the Adversarial Generalized Likelihood Ratio Test (A-GLRT) that uses both the reported robot measurements and trust observations to estimate the trustworthiness of robots, their reporting strategy, and the correct hypothesis simultaneously. We exploit special problem structure to show that this approach remains computationally tractable despite several unknown problem parameters.We deploy both algorithms in a hardware experiment where a group of robots conducts crowdsensing of traffic conditions on a mock-up road network similar in spirit toGoogleMaps, subject to a Sybil attack.We extract the trust observations for each robot from actual communication signals which provide statistical information on the uniqueness of the sender.We show that even when the malicious robots are in the majority, the FC can reduce the probability of detection error to 30.5% and 29% for the 2SA and the A-GLRT respectively. 

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