arXiv subjects

Aaron Johnson

Publications and source records attributed to Aaron Johnson.

At least 19 recordsLinked to original sources

arXiv2026

FARO: Feasibility-Aware Robot Motion Optimization

Fast planning of novel behaviors in unseen scenarios remains a fundamental challenge in robotics. The high-dimensional, hybrid, and underactuated nature of humanoid loco-manipulation continues to hinder the realization of this goal. In this paper, we address this challenge by proposing a nested kino-dynamic framework for rapid feasibility checking and dynamically consistent trajectory generation given a candidate contact sequence. By integrating this module with a feasibility-guided tree search and a Large Language Model (LLM)-based contact plan sampling strategy, we demonstrate that the proposed framework can substantially improve the search process. Furthermore, we show that the generated trajectories can be tracked using a reinforcement learning (RL)-based controller and show that the resulting trajectories are of sufficiently high quality for execution in real-world loco-manipulation scenarios. A supplementary video is available at: https://youtu.be/R6qCHoCormQ.

cs.RO↗

arXiv2026

The WDM Time-Frequency Transform in Gravitational-Wave Data Analysis I: Formalism

For slowly-varying noise, time-frequency methods offer a natural middle ground between the efficiency of the frequency domain and the generality of the more expensive time domain. Despite growing adoption, such methods remain less well documented and less familiar in the gravitational-wave literature, compared to the ubiquitous frequency domain. Aimed at gravitational-wave analysts, in this paper we present a self-contained account of time-frequency methods, detail derivations for a specific basis, namely the Wilson-Daubechies-Meyer (WDM) basis, and share intuition and lessons learned. We document key concepts: the orthogonality and good time-frequency localization of the basis, the edge effects at the DC and Nyquist frequencies, the forward and inverse transforms and their practical implementation, and the noise covariance matrix and likelihood in the time-frequency domain.

gr-qc↗

arXiv2026

Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering

Reinforcement learning (RL) policies enable dynamic legged locomotion but lack mechanisms to avoid violations of safety constraints that are absent during training. Large-scale offline safe learning is impractical for covering all edge cases. Existing safety frameworks either rely on reduced-order models that cannot reason about whole-body behaviors or require conservative recovery controllers that degrade task performance. We propose a predictive safety filter that post-hoc filters the nominal contact locations fed to the RL policy. When a collision is predicted, a sampling-based optimizer asynchronously searches for safer contact sequences using a full-physics model, while a learned value function bootstraps long-horizon returns. Our three algorithmic components (geometric projection of sampled contacts, momentum-augmented updates, and replica-exchange) make the optimization tractable in a discontinuous contact landscape. We validate the filter on a quadruped robot in dense, cluttered environments, both in simulation and in the real world, showing substantial reductions in safety violations with minimal deviation from the nominal input.

cs.RO↗

arXiv2026

Interdisciplinary Workshop on Mechanical Intelligence: Summary Report

This report provides a summary of the outcomes of the Interdisciplinary Workshop on Mechanical Intelligence held in 2024. Mechanical Intelligence (MI) represents the phenomenon that novel structural features of material/biological/robotic systems can encode intelligence through responsiveness, adaptivity, memory, and learning in the mechanical structure itself. This is in contrast to computational intelligence, wherein the intelligence functions occur through electrical signaling and computer code. The two-day workshop was held at NSF headquarters on May 30-31 and included 38 invited academic researcher participants, and 8 program officers from the NSF. The workshop was structured around active small and large group discussions in groups of 4-5 and 9-10 with the goal of addressing topical questions on MI. Working groups entered notes into shared presentation slides for each discussion session and presented their outcomes in a final presentation on the last day. Here we summarize the overall outcomes of the workshop.

cs.RO↗

arXiv2025

The NANOGrav 12.5-year Data Set: Chromatic Noise Characterization & Mitigation with Time-Domain Kernels

Pulsar timing arrays (PTAs) have recently entered the detection era, quickly moving beyond the goal of simply improving sensitivity at the lowest frequencies for the sake of observing the stochastic gravitational wave background (GWB), and focusing on its accurate spectral characterization. While all PTA collaborations around the world use Fourier-domain Gaussian processes to model the GWB and intrinsic long time-correlated (red) noise, techniques to model the time-correlated radio frequency-dependent (chromatic) processes have varied from collaboration to collaboration. Here we test a new class of models for PTA data, Gaussian processes based on time-domain kernels that model the statistics of the chromatic processes starting from the covariance matrix. As we will show, these models can be effectively equivalent to Fourier-domain models in mitigating chromatic noise. This work presents a method for Bayesian model selection across the various choices of kernel as well as deterministic chromatic models for non-stationary chromatic events and the solar wind. As PTAs turn towards high frequency (>1/yr) sensitivity, the size of the basis used to model these processes will need to increase, and these time-domain models present some computational efficiencies compared to Fourier-domain models.

astro-ph.IM↗

arXiv2025

Inferring Mbh-Mbulge Evolution from the Gravitational Wave Background

We test the impact of an evolving supermassive black hole (SMBH) mass scaling relation (Mbh-Mbulge) on the predictions for the gravitational wave background (GWB). The observed GWB amplitude is 2-3 times higher than predicted by astrophysically informed models which suggests the need to revise the assumptions in those models. We compare a semi-analytic model's ability to reproduce the observed GWB spectrum with a static versus evolving-amplitude Mbh-Mbulge relation. We additionally consider the influence of the choice of galaxy stellar mass function on the modeled GWB spectra. Our models are able to reproduce the GWB amplitude with either a large number density of massive galaxies or a positively evolving Mbh-Mbulge amplitude (i.e., the Mbh / Mbulge ratio was higher in the past). If we assume that the Mbh-Mbulge amplitude does not evolve, our models require a galaxy stellar mass function that implies an undetected population of massive galaxies (Mstellar > 10^11 Msun at z > 1). When the Mbh-Mbulge amplitude is allowed to evolve, we can model the GWB spectrum with all fiducial values and an Mbh-Mbulge amplitude that evolves as alpha(z) = alpha_0 (1 + z)^(1.04 +/- 0.5).

astro-ph.HE↗

arXiv2024

Bytes to Schlep? Use a FEP: Hiding Protocol Metadata with Fully Encrypted Protocols

Fully Encrypted Protocols (FEPs) have arisen in practice as a technique to avoid network censorship. Such protocols are designed to produce messages that appear completely random. This design hides communications metadata, such as version and length fields, and makes it difficult to even determine what protocol is being used. Moreover, these protocols frequently support padding to hide the length of protocol fields and the contained message. These techniques have relevance well beyond censorship circumvention, as protecting protocol metadata has security and privacy benefits for all Internet communications. The security of FEP designs depends on cryptographic assumptions, but neither security definitions nor proofs exist for them. We provide novel security definitions that capture the metadata-protection goals of FEPs. Our definitions are given in both the datastream and datagram settings, which model the ubiquitous TCP and UDP interfaces available to protocol designers. We prove relations among these new notions and existing security definitions. We further present new FEP constructions and prove their security. Finally, we survey existing FEP candidates and characterize the extent to which they satisfy FEP security. We identify novel ways in which these protocols are identifiable, including their responses to the introduction of data errors and the sizes of their smallest protocol messages.

cs.CR↗

arXiv2024

A Measurement of Genuine Tor Traces for Realistic Website Fingerprinting

Website fingerprinting (WF) is a dangerous attack on web privacy because it enables an adversary to predict the website a user is visiting, despite the use of encryption, VPNs, or anonymizing networks such as Tor. Previous WF work almost exclusively uses synthetic datasets to evaluate the performance and estimate the feasibility of WF attacks despite evidence that synthetic data misrepresents the real world. In this paper we present GTT23, the first WF dataset of genuine Tor traces, which we obtain through a large-scale measurement of the Tor network and which is intended especially for WF. It represents real Tor user behavior better than any existing WF dataset, is larger than any existing WF dataset by at least an order of magnitude, and will help ground the future study of realistic WF attacks and defenses. In a detailed evaluation, we survey 28 WF datasets published since 2008 and compare their characteristics to those of GTT23. We discover common deficiencies of synthetic datasets that make them inferior to GTT23 for drawing meaningful conclusions about the effectiveness of WF attacks directed at real Tor users. We have made GTT23 available to promote reproducible research and to help inspire new directions for future work.

cs.CR↗

arXiv2023

The NANOGrav 15-year Data Set: Constraints on Supermassive Black Hole Binaries from the Gravitational Wave Background

The NANOGrav 15-year data set shows evidence for the presence of a low-frequency gravitational-wave background (GWB). While many physical processes can source such low-frequency gravitational waves, here we analyze the signal as coming from a population of supermassive black hole (SMBH) binaries distributed throughout the Universe. We show that astrophysically motivated models of SMBH binary populations are able to reproduce both the amplitude and shape of the observed low-frequency gravitational-wave spectrum. While multiple model variations are able to reproduce the GWB spectrum at our current measurement precision, our results highlight the importance of accurately modeling binary evolution for producing realistic GWB spectra. Additionally, while reasonable parameters are able to reproduce the 15-year observations, the implied GWB amplitude necessitates either a large number of parameters to be at the edges of expected values, or a small number of parameters to be notably different from standard expectations. While we are not yet able to definitively establish the origin of the inferred GWB signal, the consistency of the signal with astrophysical expectations offers a tantalizing prospect for confirming that SMBH binaries are able to form, reach sub-parsec separations, and eventually coalesce. As the significance grows over time, higher-order features of the GWB spectrum will definitively determine the nature of the GWB and allow for novel constraints on SMBH populations.

astro-ph.HE↗

arXiv2022

Accurate characterization of the stochastic gravitational-wave background with pulsar timing arrays by likelihood reweighting

An isotropic stochastic background of nanohertz gravitational waves creates excess residual power in pulsar-timing-array datasets, with characteristic inter-pulsar correlations described by the Hellings-Downs function. These correlations appear as nondiagonal terms in the noise covariance matrix, which must be inverted to obtain the pulsar-timing-array likelihood. Searches for the stochastic background, which require many likelihood evaluations, are therefore quite computationally expensive. We propose a more efficient method: we first compute approximate posteriors by ignoring cross correlations, and then reweight them to exact posteriors via importance sampling. We show that this technique results in accurate posteriors and marginal likelihood ratios, because the approximate and exact posteriors are similar, which makes reweighting especially accurate. The Bayes ratio between the marginal likelihoods of the exact and approximate models, commonly used as a detection statistic, is also estimated reliably by our method, up to ratios of at least $10^6$.

gr-qc↗

arXiv2022

Accountable Private Set Cardinality for Distributed Measurement

We introduce cryptographic protocols for securely and efficiently computing the cardinality of set union and set intersection. Our private set-cardinality protocols (PSC) are designed for the setting in which a large set of parties in a distributed system makes observations, and a small set of parties with more resources and higher reliability aggregates the observations. PSC allows for secure and useful statistics gathering in privacy-preserving distributed systems. For example, it allows operators of anonymity networks such as Tor to securely answer the questions: "How many unique users are using the network?" and "How many hidden services are being accessed?". We prove the correctness and security of PSC in the Universal Composability framework against an active adversary that compromises all but one of the aggregating parties. Although successful output cannot be guaranteed in this setting, PSC either succeeds or terminates with an abort, and we furthermore make the adversary accountable for causing an abort by blaming at least one malicious party. We also show that PSC prevents adaptive corruption of the data parties from revealing past observations, which prevents them from being victims of targeted compromise, and we ensure safe measurements by making outputs differentially private. We present a proof-of-concept implementation of PSC and use it to demonstrate that PSC operates with low computational overhead and reasonable bandwidth. It can count tens of thousands of unique observations from tens to hundreds of data-collecting parties while completing within hours. PSC is thus suitable for daily measurements in a distributed system.

cs.CR↗

arXiv2022

Differentially Private Maximal Information Coefficients

The Maximal Information Coefficient (MIC) is a powerful statistic to identify dependencies between variables. However, it may be applied to sensitive data, and publishing it could leak private information. As a solution, we present algorithms to approximate MIC in a way that provides differential privacy. We show that the natural application of the classic Laplace mechanism yields insufficient accuracy. We therefore introduce the MICr statistic, which is a new MIC approximation that is more compatible with differential privacy. We prove MICr is a consistent estimator for MIC, and we provide two differentially private versions of it. We perform experiments on a variety of real and synthetic datasets. The results show that the private MICr statistics significantly outperform direct application of the Laplace mechanism. Moreover, experiments on real-world datasets show accuracy that is usable when the sample size is at least moderately large.

cs.CR↗

arXiv2021

Consistency of the Maximal Information Coefficient Estimator

The Maximal Information Coefficient (MIC) of Reshef et al. (Science, 2011) is a statistic for measuring dependence between variable pairs in large datasets. In this note, we prove that MIC is a consistent estimator of the corresponding population statistic MIC$_*$. This corrects an error in an argument of Reshef et al. (JMLR, 2016), which we describe.

stat.ME↗

arXiv2020

FlashFlow: A Secure Speed Test for Tor

The Tor network uses a measurement system to estimate its relays' forwarding capacity and to balance traffic among them. This system has been shown to be vulnerable to adversarial manipulation. Moreover, its accuracy and effectiveness in benign circumstances has never been fully quantified. We first obtain such a quantification by analyzing Tor metrics data and performing experiments on the live network. Our results show that Tor currently underestimates its true capacity by about 50% and improperly balances its traffic by 15-25%. Then, to solve the problems with security and accuracy, we present FlashFlow, a system to measure the capacity of Tor relays. Our analysis shows that FlashFlow limits a malicious relay to obtaining a capacity estimate at most 1.33 times its true capacity. Through realistic Internet experiments, we find that FlashFlow measures relay capacity with at least 89% accuracy 95% of the time. Through simulation, we find that FlashFlow can measure the entire Tor network in less than 5 hours using 3 measurers with 1 Gbit/s of bandwidth each. Finally, simulations using FlashFlow for load balancing shows that, compared to TorFlow, network weight error decreases by 86%, while the median of 50 KiB, 1 MiB, and 5 MiB transfer times decreases by 15%, 29%, and 37%, respectively. Moreover, FlashFlow yields more consistent client performance: the median rate of transfer timeouts decreases by 100%, while the standard deviation of 50 KiB, 1 MiB, and 5 MiB transfer times decreases by 55%, 61%, and 41%, respectively. We also find that the performance improvements increase relative to TorFlow as the total client-traffic load increases, demonstrating that FlashFlow is better suited to supporting network growth.

cs.CR↗

arXiv2018

Understanding Tor Usage with Privacy-Preserving Measurement

The Tor anonymity network is difficult to measure because, if not done carefully, measurements could risk the privacy (and potentially the safety) of the network's users. Recent work has proposed the use of differential privacy and secure aggregation techniques to safely measure Tor, and preliminary proof-of-concept prototype tools have been developed in order to demonstrate the utility of these techniques. In this work, we significantly enhance two such tools--PrivCount and Private Set-Union Cardinality--in order to support the safe exploration of new types of Tor usage behavior that have never before been measured. Using the enhanced tools, we conduct a detailed measurement study of Tor covering three major aspects of Tor usage: how many users connect to Tor and from where do they connect, with which destinations do users most frequently communicate, and how many onion services exist and how are they used. Our findings include that Tor has ~8 million daily users (a factor of four more than previously believed) while Tor user IPs turn over almost twice in a 4 day period. We also find that ~40% of the sites accessed over Tor have a torproject.org domain name, ~10% of the sites have an amazon.com domain name, and ~80% of the sites have a domain name that is included in the Alexa top 1 million sites list. Finally, we find that ~90% of lookups for onion addresses are invalid, and more than 90% of attempted connections to onion services fail.

cs.CR↗

arXiv2018

Tempest: Temporal Dynamics in Anonymity Systems

Many recent proposals for anonymous communication omit from their security analyses a consideration of the effects of time on important system components. In practice, many components of anonymity systems, such as the client location and network structure, exhibit changes and patterns over time. In this paper, we focus on the effect of such temporal dynamics on the security of anonymity networks. We present Tempest, a suite of novel attacks based on (1) client mobility, (2) usage patterns, and (3) changes in the underlying network routing. Using experimental analysis on real-world datasets, we demonstrate that these temporal attacks degrade user privacy across a wide range of anonymity networks, including deployed systems such as Tor; path-selection protocols for Tor such as DeNASA, TAPS, and Counter-RAPTOR; and network-layer anonymity protocols for Internet routing such as Dovetail and HORNET. The degradation is in some cases surprisingly severe. For example, a single host failure or network route change could quickly and with high certainty identify the client's ISP to a malicious host or ISP. The adversary behind each attack is relatively weak - generally passive and in control of one network location or a small number of hosts. Our findings suggest that designers of anonymity systems should rigorously consider the impact of temporal dynamics when analyzing anonymity.

cs.CR↗

arXiv2015

Avoiding The Man on the Wire: Improving Tor's Security with Trust-Aware Path Selection

Tor users are vulnerable to deanonymization by an adversary that can observe some Tor relays or some parts of the network. We demonstrate that previous network-aware path-selection algorithms that propose to solve this problem are vulnerable to attacks across multiple Tor connections. We suggest that users use trust to choose the paths through Tor that are less likely to be observed, where trust is flexibly modeled as a probability distribution on the location of the user's adversaries, and we present the Trust-Aware Path Selection algorithm for Tor that helps users avoid traffic-analysis attacks while still choosing paths that could have been selected by many other users. We evaluate this algorithm in two settings using a high-level map of Internet routing: (i) users try to avoid a single global adversary that has an independent chance to control each Autonomous System organization, Internet Exchange Point organization, and Tor relay family, and (ii) users try to avoid deanonymization by any single country. We also examine the performance of Trust-Aware Path selection using the Shadow network simulator.

cs.CR↗

arXiv2014

Defending Tor from Network Adversaries: A Case Study of Network Path Prediction

The Tor anonymity network has been shown vulnerable to traffic analysis attacks by autonomous systems and Internet exchanges, which can observe different overlay hops belonging to the same circuit. We aim to determine whether network path prediction techniques provide an accurate picture of the threat from such adversaries, and whether they can be used to avoid this threat. We perform a measurement study by running traceroutes from Tor relays to destinations around the Internet. We use the data to evaluate the accuracy of the autonomous systems and Internet exchanges that are predicted to appear on the path using state-of-the-art path inference techniques; we also consider the impact that prediction errors have on Tor security, and whether it is possible to produce a useful overestimate that does not miss important threats. Finally, we evaluate the possibility of using these predictions to actively avoid AS and IX adversaries and the challenges this creates for the design of Tor.

cs.CR↗