arXiv subjects

Paul Schmitt

Publications and source records attributed to Paul Schmitt.

At least 19 recordsLinked to original sources

arXiv2026

Real-Time Rulebook-Aware Nonlinear MPC for Autonomous Driving with Priority-Biased Tiered Slacks

Autonomous-vehicle motion planners must resolve conflicts among safety, regulation, comfort, and efficiency in real time while exposing those decisions for audit. We present W-SQP, a weighted tiered-slack nonlinear model predictive controller (NMPC) that compiles nine driving-rule families into a four-tier shared-slack nonlinear program solved online with CasADi and IPOPT; the name denotes the weighted quadratic slack penalty, not a sequential-quadratic-programming solver. Strongly separated tier penalties bias residual violations toward lower-priority rules while leaving actuation bounds hard. The controller replans from its executed state at $10$\,Hz and records per-rule residuals on every cycle. A $90$\,ms solver-time limit returns an anytime iterate that is projected through the vehicle dynamics before execution; median and maximum observed wall-clock solve times were $28$ and $104$\,ms. We evaluate W-SQP in closed loop on 150 Waymo Open Motion Dataset scenarios in Waymax against reactive and proposal-and-select baselines, and introduce a log-independent protocol that separates safety and regulatory compliance from resemblance to the recorded human trajectory. Under this protocol, W-SQP shows no systematic group-level deficit relative to expert replay on the log-independent safety and regulatory rules, with several localized regressions in the hardest, highest-divergence scenarios. The results characterize W-SQP as an auditable, priority-biased, anytime-capable NMPC prototype rather than a hard-real-time or formally safe controller.

cs.RO↗

arXiv2026

Decentralized Geometric Control for Cable-Suspended Payload Transport with Adaptive Mass Estimation

Cooperative aerial transport requires controllers that respect nonlinear manifold geometry, operate without centralized coordination, and respect operational safety constraints. To address these demands, we present GPAC, a four-layer hierarchical architecture that enables $N$ quadrotors to transport a cable-suspended payload without a central coordinator or by exchanging cable states or adaptive parameters. The key insight is implicit coordination: each quadrotor independently estimates its effective load share from local cable measurements, so combined forces converge to the correct total, even without knowledge of $N$ or the payload mass; the payload position is reconstructed locally from each agent's own cable geometry, and the only inter-agent communication is a low-rate neighbor-position broadcast for collision avoidance. GPAC operates directly on the full nonlinear configuration manifold and integrates geometric position and attitude control, anti-swing regulation, an extended-state observer for wind rejection, concurrent learning-based mass estimation without persistent excitation, and a priority-ordered control barrier function (CBF)-inspired safety filter that reduces operational risk, with input-to-state safety (ISSf) margins that hold exactly under single-constraint activation. A compatibility result shows that the filter's force modifications keep the desired attitude within the almost-global stability region of the $\mathrm{SO}(3)$ attitude controller. Finally, high-fidelity simulation with flexible cables, onboard sensor fusion, and wind turbulence -- with all control and estimation loops closed through the estimator -- yields a mean payload-tracking RMSE of 33.8 cm (2.8\% coefficient of variation over 13 seeds) at a low per-agent computational cost.

cs.RO↗

arXiv2026

Re-imagining ISO 26262 in the Age of Autonomous Vehicles: Enhancing Controllability through Transferability and Predictability

The ISO 26262 standard defines functional safety for road vehicles through risk assessments based on Severity, Exposure, and Controllability, grounded in a human-driven vehicle paradigm. In the context of autonomous vehicles (AVs), the absence of a human driver necessitates revisiting these principles. This paper decomposes the Controllability placeholder into two auditable evidence dimensions of ISO 26262 by introducing two measurable sub-concepts: Transferability and Predictability. Transferability extends Controllability to capture AV systems' ability to hand off control to dedicated fallback safety mechanisms, while Predictability captures how easily external agents can anticipate AV behavior. Predictability is formally defined from human-robot interaction-inspired principles, and a mathematical framework is provided to quantify it. A designed-versus-achievable gap is introduced to distinguish architectural fallback claims from scene-conditioned achievable fallback capability. The proposed metrics align with ISO 26262 and ISO/PAS 21448 (SOTIF), rendering fallback and interaction claims falsifiable and traceable across ODD slices. These dimensions complement rather than replace existing standards, and the enhancements preserve the structure of ISO 26262 while extending its applicability to driverless automated systems operating at SAE Levels 4 and 5.

cs.RO↗

arXiv2026

RECTOR: Priority-Aware Rule-Based Reranking for Compliance-Aware Autonomous Driving Trajectory Selection

Autonomous driving stacks must pick one trajectory from a multi-modal candidate set; choosing by model confidence ignores safety, traffic-law, and comfort constraints. We present \textsc{RECTOR} (Rule-Enforced Constrained Trajectory Orchestrator), a post-generation reranking layer that scores candidates against a tiered rulebook (Safety~$\succ$~Legal~$\succ$~Road~$\succ$~Comfort) via differentiable proxies and a scene-conditioned applicability mechanism, then selects with a deterministic $\varepsilon$-lexicographic rule that preserves cross-tier priority by construction -- without retraining the predictor. On the Waymo Open Motion Dataset \texttt{validation\_interactive} split (43{,}219 augmented instances, $K{=}6$), under Protocol~B (28-rule proxy catalog, oracle applicability) rule-aware selection cuts Safety+Legal violations from 28.58\% to 20.42\% and Total from 40.32\% to 32.41\% versus confidence-only on the same candidates. A uniform-weight weighted-sum baseline matches binary compliance on this benchmark -- the empirical lift comes from rule-aware ranking, while the lexicographic guarantee is the structural differentiator no weight calibration can replicate. Under adversarial confidence corruption, confidence-only selection fails in 100\% of scenarios while both rule-aware selectors reject the injected mode in $\sim$96\%. All figures are proxy-evaluator results (not a safety certificate), open-loop, 5\,s horizon, U.S.\ rules, validation split.

cs.AI↗

arXiv2026

Characterizing the Impact of Active Queue Management on Speed Test Measurements

Present day speed test tools measure peak throughput, but often fail to capture the user-perceived responsiveness of a network connection under load. Recently, platforms such as NDT, Ookla Speedtest and Cloudflare Speed Test have introduced metrics such as ``latency under load'' or ``working latency'' to fill this gap. Yet, the sensitivity of these metrics to basic network configurations such as Active Queue Management (AQM) remains poorly understood. In this work, we conduct an empirical study of the impact of AQM on speed test measurements in a laboratory setting. Using controlled experiments, we compare the distribution of throughput and latency under different load measurements across different AQM schemes, including CoDel, FQ-CoDel and Stochastic Fair Queuing (SFQ). On comparing with a standard drop-tail baseline, we find that measurements have high variance across AQM schemes and load conditions. These results highlight the critical role of AQM in shaping how emerging latency metrics should be interpreted, and underscore the need for careful calibration of speed test platforms before their results are used to guide policy or regulatory outcomes.

cs.NI↗

arXiv2026

Embodied AI in Action: Insights from SAE World Congress 2026 on Safety, Trust, Robotics, and Real-World Deployment

Embodied artificial intelligence is rapidly moving from research into real-world systems such as autonomous vehicles, mobile robots, and industrial machines. As these systems become more capable of perceiving, deciding, and acting in dynamic environments, they also introduce new challenges in safety, trust, governance, and operational reliability. This white paper summarizes key insights from the SAE World Congress 2026 panel session \textit{Embodied AI in Action}, which brought together experts from automotive, robotics, artificial intelligence, and safety engineering. The discussion highlighted the need to treat embodied AI as a systems challenge requiring engineering rigor, lifecycle governance, human-centered design, and evolving standards. The paper provides practical perspectives for executives, policymakers, and technical leaders seeking to adopt embodied AI responsibly. The panel reached broad agreement that long-term success will depend not only on advances in AI capability, but equally on safe and trustworthy deployment.

cs.RO↗

arXiv2026

Passive Fault Tolerance through Tension-to-Thrust Feed-Forward: Hybrid Input-to-State Stability for Decentralized Multi-UAV Slung-Load Transport under Abrupt Cable Severance

Abrupt cable severance in multi-UAV slung-load transport redistributes load and changes the active constraint set, leaving limited time for fault diagnosis and reconfiguration. Existing controllers rely on coordinated force allocation, peer-state exchange, or fixed cable topology, and therefore lack a certified decentralized recovery mechanism for unannounced severance. We present a passive architecture that routes each vehicle's measured cable tension directly into its altitude thrust command, $T_i^{\mathrm{ff}}=T_i$, while a surrounding proportional-derivative, anti-swing, and projection cascade preserves local tracking feasibility. The main contribution is a conditional hybrid practical input-to-state-stability certificate that composes a slack-excursion-bounded taut-cable reduction, bounded post-severance Lyapunov jumps, inter-fault decay, and per-fault-cycle contraction $ρ\in (0,1)$ into an explicit recovery envelope under stated actuator, slack, and dwell assumptions. We validate the controller in Drake multibody simulation with five vehicles, a 10 kg payload, Kelvin-Voigt cables, Dryden wind, and single- and dual-severance schedules: the closed loop attains 0.312-0.328 m RMSE, 76.1-95.2 mm peak sag, and recovery within one payload-pendulum period. Disabling the identity inflates cruise error by 34-39% and peak sag by 3.6x-4.0x, identifying local tension feed-forward as the dominant passive recovery mechanism in the tested decentralized cascade.

cs.RO↗

arXiv2026

Less is More: Optimizing Probe Selection Using Shared Latency Anomalies

Latency anomalies, defined as persistent or transient increases in round-trip time (RTT), are common in residential Internet performance. When multiple users observe anomalies to the same destination, this may reflect shared infrastructure, routing behavior, or congestion. Inferring such shared behavior is challenging because anomaly magnitudes vary widely across devices, even within the same ISP and geographic area, and detailed network topology information is often unavailable. We study whether devices experiencing a shared latency anomaly observe similar changes in RTT magnitude using a topology-agnostic approach. Using four months of high-frequency RTT measurements from 99 residential probes in Chicago, we detect shared anomalies and analyze their consistency in amplitude and duration without relying on traceroutes or explicit path information. Building on prior change-point detection techniques, we find that many shared anomalies exhibit similar amplitude across users, particularly within the same ISP. Motivated by this observation, we design a sampling algorithm that reduces redundancy by selecting representative devices under user-defined constraints. Our approach captures 95 percent of aggregate anomaly impact using fewer than half of the deployed probes. Compared to two baselines, it identifies significantly more unique anomalies at comparable coverage levels. We further show that geographic diversity remains important when selecting probes within a single ISP, even at city scale. Overall, our results demonstrate that anomaly amplitude and duration provide effective topology-independent signals for scalable monitoring, troubleshooting, and cost-efficient sampling in residential Internet measurement.

cs.NI↗

arXiv2026

NetSSM: Multi-Flow and State-Aware Network Trace Generation using State Space Models

Access to raw network traffic data is essential for many computer networking tasks, from traffic modeling to performance evaluation. Unfortunately, this data is scarce due to high collection costs and governance rules. Previous efforts explore this challenge by generating synthetic network data, but fail to reliably handle multi-flow sessions, struggle to reason about stateful communication in moderate to long-duration network sessions, and lack robust evaluations tied to real-world utility. We propose a new method based on state space models called NetSSM that generates raw network traffic at the packet-level granularity. Our approach captures interactions between multiple, interleaved flows -- an objective unexplored in prior work -- and effectively reasons about flow-state in sessions to capture traffic characteristics. NetSSM accomplishes this by learning from and producing traces 8x and 78x longer than existing transformer-based approaches. Evaluation results show that our method generates high-fidelity traces that outperform prior efforts in existing benchmarks. We also find that NetSSM's traces have high semantic similarity to real network data regarding compliance with standard protocol requirements and flow and session-level traffic characteristics.

cs.NI↗

arXiv2025

Cruise Control: Dynamic Model Selection for ML-Based Network Traffic Analysis

Modern networks increasingly rely on machine learning models for real-time insights, including traffic classification, application quality of experience inference, and intrusion detection. However, existing approaches prioritize prediction accuracy without considering deployment constraints or the dynamism of network traffic, leading to potentially suboptimal performance. Because of this, deploying ML models in real-world networks with tight performance constraints remains an open challenge. In contrast with existing work that aims to select an optimal candidate model for each task based on offline information, we propose an online, system-driven approach to dynamically select the best ML model for network traffic analysis. To this end, we present Cruise Control, a system that pre-trains several models for a given task with different accuracy-cost tradeoffs and selects the most appropriate model based on lightweight signals representing the system's current traffic processing ability. Experimental results using two real-world traffic analysis tasks demonstrate Cruise Control's effectiveness in adapting to changing network conditions. Our evaluation shows that Cruise Control improves median accuracy by 2.78% while reducing packet loss by a factor of four compared to offline-selected models.

cs.NI↗

arXiv2025

Animal Interaction with Autonomous Mobility Systems: Designing for Multi-Species Coexistence

Autonomous mobility systems increasingly operate in environments shared with animals, from urban pets to wildlife. However, their design has largely focused on human interaction, with limited understanding of how non-human species perceive, respond to, or are affected by these systems. Motivated by research in Animal-Computer Interaction (ACI) and more-than-human design, this study investigates animal interactions with autonomous mobility through a multi-method approach combining a scoping review (45 articles), online ethnography (39 YouTube videos and 11 Reddit discussions), and expert interviews (8 participants). Our analysis surfaces five key areas of concern: Physical Impact (e.g., collisions, failures to detect), Behavioural Effects (e.g., avoidance, stress), Accessibility Concerns (particularly for service animals), Ethics and Regulations, and Urban Disturbance. We conclude with design and policy directions aimed at supporting multispecies coexistence in the age of autonomous systems. This work underscores the importance of incorporating non-human perspectives to ensure safer, more inclusive futures for all species.

cs.HC↗

arXiv2024

Beyond Data Points: Regionalizing Crowdsourced Latency Measurements

Despite significant investments in access network infrastructure, universal access to high-quality Internet connectivity remains a challenge. Policymakers often rely on large-scale, crowdsourced measurement datasets to assess the distribution of access network performance across geographic areas. These decisions typically rest on the assumption that Internet performance is uniformly distributed within predefined social boundaries. However, this assumption may not be valid for two reasons: crowdsourced measurements often exhibit non-uniform sampling densities within geographic areas; and predefined social boundaries may not align with the actual boundaries of Internet infrastructure. In this paper, we present a spatial analysis on crowdsourced datasets for constructing stable boundaries for sampling Internet performance. We hypothesize that greater stability in sampling boundaries will reflect the true nature of Internet performance disparities than misleading patterns observed as a result of data sampling variations. We apply and evaluate a series of statistical techniques to: aggregate Internet performance over geographic regions; overlay interpolated maps with various sampling unit choices; and spatially cluster boundary units to identify contiguous areas with similar performance characteristics. We assess the effectiveness of the techniques we apply by comparing the similarity of the resulting boundaries for monthly samples drawn from the dataset. Our evaluation shows that the combination of techniques we apply achieves higher similarity compared to directly calculating central measures of network metrics over census tracts or neighborhood boundaries. These findings underscore the important role of spatial modeling in accurately assessing and optimizing the distribution of Internet performance, to inform policy, network operations, and long-term planning decisions.

cs.NI↗

arXiv2024

Feasibility of State Space Models for Network Traffic Generation

Many problems in computer networking rely on parsing collections of network traces (e.g., traffic prioritization, intrusion detection). Unfortunately, the availability and utility of these collections is limited due to privacy concerns, data staleness, and low representativeness. While methods for generating data to augment collections exist, they often fall short in replicating the quality of real-world traffic In this paper, we i) survey the evolution of traffic simulators/generators and ii) propose the use of state-space models, specifically Mamba, for packet-level, synthetic network trace generation by modeling it as an unsupervised sequence generation problem. Early evaluation shows that state-space models can generate synthetic network traffic with higher statistical similarity to real traffic than the state-of-the-art. Our approach thus has the potential to reliably generate realistic, informative synthetic network traces for downstream tasks.

cs.NI↗

arXiv2024

SoK: The Ghost Trilemma

Trolls, bots, and sybils distort online discourse and compromise the security of networked platforms. User identity is central to the vectors of attack and manipulation employed in these contexts. However it has long seemed that, try as it might, the security community has been unable to stem the rising tide of such problems. We posit the Ghost Trilemma, that there are three key properties of identity -- sentience, location, and uniqueness -- that cannot be simultaneously verified in a fully-decentralized setting. Many fully-decentralized systems -- whether for communication or social coordination -- grapple with this trilemma in some way, perhaps unknowingly. In this Systematization of Knowledge (SoK) paper, we examine the design space, use cases, problems with prior approaches, and possible paths forward. We sketch a proof of this trilemma and outline options for practical, incrementally deployable schemes to achieve an acceptable tradeoff of trust in centralized trust anchors, decentralized operation, and an ability to withstand a range of attacks, while protecting user privacy.

cs.CR↗

arXiv2023

VidPlat: A Tool for Fast Crowdsourcing of Quality-of-Experience Measurements

For video or web services, it is crucial to measure user-perceived quality of experience (QoE) at scale under various video quality or page loading delays. However, fast QoE measurements remain challenging as they must elicit subjective assessment from human users. Previous work either (1) automates QoE measurements by letting crowdsourcing raters watch and rate QoE test videos or (2) dynamically prunes redundant QoE tests based on previously collected QoE measurements. Unfortunately, it is hard to combine both ideas because traditional crowdsourcing requires QoE test videos to be pre-determined before a crowdsourcing campaign begins. Thus, if researchers want to dynamically prune redundant test videos based on other test videos' QoE, they are forced to launch multiple crowdsourcing campaigns, causing extra overheads to re-calibrate or train raters every time. This paper presents VidPlat, the first open-source tool for fast and automated QoE measurements, by allowing dynamic pruning of QoE test videos within a single crowdsourcing task. VidPlat creates an indirect shim layer between researchers and the crowdsourcing platforms. It allows researchers to define a logic that dynamically determines which new test videos need more QoE ratings based on the latest QoE measurements, and it then redirects crowdsourcing raters to watch QoE test videos dynamically selected by this logic. Other than having fewer crowdsourcing campaigns, VidPlat also reduces the total number of QoE ratings by dynamically deciding when enough ratings are gathered for each test video. It is an open-source platform that future researchers can reuse and customize. We have used VidPlat in three projects (web loading, on-demand video, and online gaming). We show that VidPlat can reduce crowdsourcing cost by 31.8% - 46.0% and latency by 50.9% - 68.8%.

cs.HC↗

arXiv2023

NetDiffusion: Network Data Augmentation Through Protocol-Constrained Traffic Generation

Datasets of labeled network traces are essential for a multitude of machine learning (ML) tasks in networking, yet their availability is hindered by privacy and maintenance concerns, such as data staleness. To overcome this limitation, synthetic network traces can often augment existing datasets. Unfortunately, current synthetic trace generation methods, which typically produce only aggregated flow statistics or a few selected packet attributes, do not always suffice, especially when model training relies on having features that are only available from packet traces. This shortfall manifests in both insufficient statistical resemblance to real traces and suboptimal performance on ML tasks when employed for data augmentation. In this paper, we apply diffusion models to generate high-resolution synthetic network traffic traces. We present NetDiffusion, a tool that uses a finely-tuned, controlled variant of a Stable Diffusion model to generate synthetic network traffic that is high fidelity and conforms to protocol specifications. Our evaluation demonstrates that packet captures generated from NetDiffusion can achieve higher statistical similarity to real data and improved ML model performance than current state-of-the-art approaches (e.g., GAN-based approaches). Furthermore, our synthetic traces are compatible with common network analysis tools and support a myriad of network tasks, suggesting that NetDiffusion can serve a broader spectrum of network analysis and testing tasks, extending beyond ML-centric applications.

cs.NI↗

arXiv2023

Internet Localization of Multi-Party Relay Users: Inherent Friction Between Internet Services and User Privacy

Internet privacy is increasingly important on the modern Internet. Users are looking to control the trail of data that they leave behind on the systems that they interact with. Multi-Party Relay (MPR) architectures lower the traditional barriers to adoption of privacy enhancing technologies on the Internet. MPRs are unique from legacy architectures in that they are able to offer privacy guarantees without paying significant performance penalties. Apple's iCloud Private Relay is a recently deployed MPR service, creating the potential for widespread consumer adoption of the architecture. However, many current Internet-scale systems are designed based on assumptions that may no longer hold for users of privacy enhancing systems like Private Relay. There are inherent tensions between systems that rely on data about users -- estimated location of a user based on their IP address, for example -- and the trend towards a more private Internet. This work studies a core function that is widely used to control network and application behavior, IP geolocation, in the context of iCloud Private Relay usage. We study the location accuracy of popular IP geolocation services compared against the published location dataset that Apple publicly releases to explicitly aid in geolocating PR users. We characterize geolocation service performance across a number of dimensions, including different countries, IP version, infrastructure provider, and time. Our findings lead us to conclude that existing approaches to IP geolocation (e.g., frequently updated databases) perform inadequately for users of the MPR architecture. For example, we find median location errors >1,000 miles in some countries for IPv4 addresses using IP2Location. Our findings lead us to conclude that new, privacy-focused, techniques for inferring user location may be required as privacy becomes a default user expectation on the Internet.

cs.NI↗

arXiv2023

AC-DC: Adaptive Ensemble Classification for Network Traffic Identification

Accurate and efficient network traffic classification is important for many network management tasks, from traffic prioritization to anomaly detection. Although classifiers using pre-computed flow statistics (e.g., packet sizes, inter-arrival times) can be efficient, they may experience lower accuracy than techniques based on raw traffic, including packet captures. Past work on representation learning-based classifiers applied to network traffic captures has shown to be more accurate, but slower and requiring considerable additional memory resources, due to the substantial costs in feature preprocessing. In this paper, we explore this trade-off and develop the Adaptive Constraint-Driven Classification (AC-DC) framework to efficiently curate a pool of classifiers with different target requirements, aiming to provide comparable classification performance to complex packet-capture classifiers while adapting to varying network traffic load. AC-DC uses an adaptive scheduler that tracks current system memory availability and incoming traffic rates to determine the optimal classifier and batch size to maximize classification performance given memory and processing constraints. Our evaluation shows that AC-DC improves classification performance by more than 100% compared to classifiers that rely on flow statistics alone; compared to the state-of-the-art packet-capture classifiers, AC-DC achieves comparable performance (less than 12.3% lower in F1-Score), but processes traffic over 150x faster.

cs.NI↗