arXiv subjects

Ramesh Raskar

Publications and source records attributed to Ramesh Raskar.

At least 37 records · Page 2Linked to original sources

arXiv2025

Upgrade or Switch: Do We Need a Next-Gen Trusted Architecture for the Internet of AI Agents?

The emerging Internet of AI Agents challenges existing web infrastructure designed for human-scale, reactive interactions. Unlike traditional web resources, autonomous AI agents initiate actions, maintain persistent state, spawn sub-agents, and negotiate directly with peers: demanding millisecond-level discovery, instant credential revocation, and cryptographic behavioral proofs that exceed current DNS/PKI capabilities. This paper analyzes whether to upgrade existing infrastructure or implement purpose-built index architectures for autonomous agents. We identify critical failure points: DNS propagation (24-48 hours vs. required milliseconds), certificate revocation unable to scale to trillions of entities, and IPv4/IPv6 addressing inadequate for agent-scale routing. We evaluate three approaches: (1) Upgrade paths, (2) Switch options, (3) Hybrid index/registries. Drawing parallels to dialup-to-broadband transitions, we find that agent requirements constitute qualitative, and not incremental, changes. While upgrades offer compatibility and faster deployment, clean-slate solutions provide better performance but require longer for adoption. Our analysis suggests hybrid approaches will emerge, with centralized indexes for critical agents and federated meshes for specialized use cases.

cs.NI↗

arXiv2025

Event Cameras Meet SPADs for High-Speed, Low-Bandwidth Imaging

Traditional cameras face a trade-off between low-light performance and high-speed imaging: longer exposure times to capture sufficient light results in motion blur, whereas shorter exposures result in Poisson-corrupted noisy images. While burst photography techniques help mitigate this tradeoff, conventional cameras are fundamentally limited in their sensor noise characteristics. Event cameras and single-photon avalanche diode (SPAD) sensors have emerged as promising alternatives to conventional cameras due to their desirable properties. SPADs are capable of single-photon sensitivity with microsecond temporal resolution, and event cameras can measure brightness changes up to 1 MHz with low bandwidth requirements. We show that these properties are complementary, and can help achieve low-light, high-speed image reconstruction with low bandwidth requirements. We introduce a sensor fusion framework to combine SPADs with event cameras to improves the reconstruction of high-speed, low-light scenes while reducing the high bandwidth cost associated with using every SPAD frame. Our evaluation, on both synthetic and real sensor data, demonstrates significant enhancements ( > 5 dB PSNR) in reconstructing low-light scenes at high temporal resolution (100 kHz) compared to conventional cameras. Event-SPAD fusion shows great promise for real-world applications, such as robotics or medical imaging.

eess.IV↗

arXiv2025

A Novel Zero-Trust Identity Framework for Agentic AI: Decentralized Authentication and Fine-Grained Access Control

Traditional Identity and Access Management (IAM) systems, primarily designed for human users or static machine identities via protocols such as OAuth, OpenID Connect (OIDC), and SAML, prove fundamentally inadequate for the dynamic, interdependent, and often ephemeral nature of AI agents operating at scale within Multi Agent Systems (MAS), a computational system composed of multiple interacting intelligent agents that work collectively. This paper posits the imperative for a novel Agentic AI IAM framework: We deconstruct the limitations of existing protocols when applied to MAS, illustrating with concrete examples why their coarse-grained controls, single-entity focus, and lack of context-awareness falter. We then propose a comprehensive framework built upon rich, verifiable Agent Identities (IDs), leveraging Decentralized Identifiers (DIDs) and Verifiable Credentials (VCs), that encapsulate an agents capabilities, provenance, behavioral scope, and security posture. Our framework includes an Agent Naming Service (ANS) for secure and capability-aware discovery, dynamic fine-grained access control mechanisms, and critically, a unified global session management and policy enforcement layer for real-time control and consistent revocation across heterogeneous agent communication protocols. We also explore how Zero-Knowledge Proofs (ZKPs) enable privacy-preserving attribute disclosure and verifiable policy compliance. We outline the architecture, operational lifecycle, innovative contributions, and security considerations of this new IAM paradigm, aiming to establish the foundational trust, accountability, and security necessary for the burgeoning field of agentic AI and the complex ecosystems they will inhabit.

cs.CR↗

arXiv2025

Enhancing Autonomous Navigation by Imaging Hidden Objects using Single-Photon LiDAR

Robust autonomous navigation in environments with limited visibility remains a critical challenge in robotics. We present a novel approach that leverages Non-Line-of-Sight (NLOS) sensing using single-photon LiDAR to improve visibility and enhance autonomous navigation. Our method enables mobile robots to "see around corners" by utilizing multi-bounce light information, effectively expanding their perceptual range without additional infrastructure. We propose a three-module pipeline: (1) Sensing, which captures multi-bounce histograms using SPAD-based LiDAR; (2) Perception, which estimates occupancy maps of hidden regions from these histograms using a convolutional neural network; and (3) Control, which allows a robot to follow safe paths based on the estimated occupancy. We evaluate our approach through simulations and real-world experiments on a mobile robot navigating an L-shaped corridor with hidden obstacles. Our work represents the first experimental demonstration of NLOS imaging for autonomous navigation, paving the way for safer and more efficient robotic systems operating in complex environments. We also contribute a novel dynamics-integrated transient rendering framework for simulating NLOS scenarios, facilitating future research in this domain.

cs.RO↗

arXiv2025

What if Eye...? Computationally Recreating Vision Evolution

Vision systems in nature show remarkable diversity, from simple light-sensitive patches to complex camera eyes with lenses. While natural selection has produced these eyes through countless mutations over millions of years, they represent just one set of realized evolutionary paths. Testing hypotheses about how environmental pressures shaped eye evolution remains challenging since we cannot experimentally isolate individual factors. Computational evolution offers a way to systematically explore alternative trajectories. Here we show how environmental demands drive three fundamental aspects of visual evolution through an artificial evolution framework that co-evolves both physical eye structure and neural processing in embodied agents. First, we demonstrate computational evidence that task specific selection drives bifurcation in eye evolution - orientation tasks like navigation in a maze leads to distributed compound-type eyes while an object discrimination task leads to the emergence of high-acuity camera-type eyes. Second, we reveal how optical innovations like lenses naturally emerge to resolve fundamental tradeoffs between light collection and spatial precision. Third, we uncover systematic scaling laws between visual acuity and neural processing, showing how task complexity drives coordinated evolution of sensory and computational capabilities. Our work introduces a novel paradigm that illuminates evolutionary principles shaping vision by creating targeted single-player games where embodied agents must simultaneously evolve visual systems and learn complex behaviors. Through our unified genetic encoding framework, these embodied agents serve as next-generation hypothesis testing machines while providing a foundation for designing manufacturable bio-inspired vision systems. Website: http://eyes.mit.edu/

cs.AI↗

arXiv2024

Blurred LiDAR for Sharper 3D: Robust Handheld 3D Scanning with Diffuse LiDAR and RGB

3D surface reconstruction is essential across applications of virtual reality, robotics, and mobile scanning. However, RGB-based reconstruction often fails in low-texture, low-light, and low-albedo scenes. Handheld LiDARs, now common on mobile devices, aim to address these challenges by capturing depth information from time-of-flight measurements of a coarse grid of projected dots. Yet, these sparse LiDARs struggle with scene coverage on limited input views, leaving large gaps in depth information. In this work, we propose using an alternative class of "blurred" LiDAR that emits a diffuse flash, greatly improving scene coverage but introducing spatial ambiguity from mixed time-of-flight measurements across a wide field of view. To handle these ambiguities, we propose leveraging the complementary strengths of diffuse LiDAR with RGB. We introduce a Gaussian surfel-based rendering framework with a scene-adaptive loss function that dynamically balances RGB and diffuse LiDAR signals. We demonstrate that, surprisingly, diffuse LiDAR can outperform traditional sparse LiDAR, enabling robust 3D scanning with accurate color and geometry estimation in challenging environments.

eess.IV↗

arXiv2024

On the limits of agency in agent-based models

Agent-based modeling (ABM) offers powerful insights into complex systems, but its practical utility has been limited by computational constraints and simplistic agent behaviors, especially when simulating large populations. Recent advancements in large language models (LLMs) could enhance ABMs with adaptive agents, but their integration into large-scale simulations remains challenging. This work introduces a novel methodology that bridges this gap by efficiently integrating LLMs into ABMs, enabling the simulation of millions of adaptive agents. We present LLM archetypes, a technique that balances behavioral complexity with computational efficiency, allowing for nuanced agent behavior in large-scale simulations. Our analysis explores the crucial trade-off between simulation scale and individual agent expressiveness, comparing different agent architectures ranging from simple heuristic-based agents to fully adaptive LLM-powered agents. We demonstrate the real-world applicability of our approach through a case study of the COVID-19 pandemic, simulating 8.4 million agents representing New York City and capturing the intricate interplay between health behaviors and economic outcomes. Our method significantly enhances ABM capabilities for predictive and counterfactual analyses, addressing limitations of historical data in policy design. By implementing these advances in an open-source framework, we facilitate the adoption of LLM archetypes across diverse ABM applications. Our results show that LLM archetypes can markedly improve the realism and utility of large-scale ABMs while maintaining computational feasibility, opening new avenues for modeling complex societal challenges and informing data-driven policy decisions.

cs.MA↗

arXiv2024

DAVED: Data Acquisition via Experimental Design for Data Markets

The acquisition of training data is crucial for machine learning applications. Data markets can increase the supply of data, particularly in data-scarce domains such as healthcare, by incentivizing potential data providers to join the market. A major challenge for a data buyer in such a market is choosing the most valuable data points from a data seller. Unlike prior work in data valuation, which assumes centralized data access, we propose a federated approach to the data acquisition problem that is inspired by linear experimental design. Our proposed data acquisition method achieves lower prediction error without requiring labeled validation data and can be optimized in a fast and federated procedure. The key insight of our work is that a method that directly estimates the benefit of acquiring data for test set prediction is particularly compatible with a decentralized market setting.

cs.LG↗

arXiv2024

Privacy-Preserving Split Learning with Vision Transformers using Patch-Wise Random and Noisy CutMix

In computer vision, the vision transformer (ViT) has increasingly superseded the convolutional neural network (CNN) for improved accuracy and robustness. However, ViT's large model sizes and high sample complexity make it difficult to train on resource-constrained edge devices. Split learning (SL) emerges as a viable solution, leveraging server-side resources to train ViTs while utilizing private data from distributed devices. However, SL requires additional information exchange for weight updates between the device and the server, which can be exposed to various attacks on private training data. To mitigate the risk of data breaches in classification tasks, inspired from the CutMix regularization, we propose a novel privacy-preserving SL framework that injects Gaussian noise into smashed data and mixes randomly chosen patches of smashed data across clients, coined DP-CutMixSL. Our analysis demonstrates that DP-CutMixSL is a differentially private (DP) mechanism that strengthens privacy protection against membership inference attacks during forward propagation. Through simulations, we show that DP-CutMixSL improves privacy protection against membership inference attacks, reconstruction attacks, and label inference attacks, while also improving accuracy compared to DP-SL and DP-MixSL.

cs.DC↗

arXiv2024

NeST: Neural Stress Tensor Tomography by leveraging 3D Photoelasticity

Photoelasticity enables full-field stress analysis in transparent objects through stress-induced birefringence. Existing techniques are limited to 2D slices and require destructively slicing the object. Recovering the internal 3D stress distribution of the entire object is challenging as it involves solving a tensor tomography problem and handling phase wrapping ambiguities. We introduce NeST, an analysis-by-synthesis approach for reconstructing 3D stress tensor fields as neural implicit representations from polarization measurements. Our key insight is to jointly handle phase unwrapping and tensor tomography using a differentiable forward model based on Jones calculus. Our non-linear model faithfully matches real captures, unlike prior linear approximations. We develop an experimental multi-axis polariscope setup to capture 3D photoelasticity and experimentally demonstrate that NeST reconstructs the internal stress distribution for objects with varying shape and force conditions. Additionally, we showcase novel applications in stress analysis, such as visualizing photoelastic fringes by virtually slicing the object and viewing photoelastic fringes from unseen viewpoints. NeST paves the way for scalable non-destructive 3D photoelastic analysis.

cs.CV↗

arXiv2024

Data Measurements for Decentralized Data Markets

Decentralized data markets can provide more equitable forms of data acquisition for machine learning. However, to realize practical marketplaces, efficient techniques for seller selection need to be developed. We propose and benchmark federated data measurements to allow a data buyer to find sellers with relevant and diverse datasets. Diversity and relevance measures enable a buyer to make relative comparisons between sellers without requiring intermediate brokers and training task-dependent models.

cs.LG↗

arXiv2024

Dealing Doubt: Unveiling Threat Models in Gradient Inversion Attacks under Federated Learning, A Survey and Taxonomy

Federated Learning (FL) has emerged as a leading paradigm for decentralized, privacy preserving machine learning training. However, recent research on gradient inversion attacks (GIAs) have shown that gradient updates in FL can leak information on private training samples. While existing surveys on GIAs have focused on the honest-but-curious server threat model, there is a dearth of research categorizing attacks under the realistic and far more privacy-infringing cases of malicious servers and clients. In this paper, we present a survey and novel taxonomy of GIAs that emphasize FL threat models, particularly that of malicious servers and clients. We first formally define GIAs and contrast conventional attacks with the malicious attacker. We then summarize existing honest-but-curious attack strategies, corresponding defenses, and evaluation metrics. Critically, we dive into attacks with malicious servers and clients to highlight how they break existing FL defenses, focusing specifically on reconstruction methods, target model architectures, target data, and evaluation metrics. Lastly, we discuss open problems and future research directions.

cs.CR↗

arXiv2024

Private Agent-Based Modeling

The practical utility of agent-based models in decision-making relies on their capacity to accurately replicate populations while seamlessly integrating real-world data streams. Yet, the incorporation of such data poses significant challenges due to privacy concerns. To address this issue, we introduce a paradigm for private agent-based modeling wherein the simulation, calibration, and analysis of agent-based models can be achieved without centralizing the agents attributes or interactions. The key insight is to leverage techniques from secure multi-party computation to design protocols for decentralized computation in agent-based models. This ensures the confidentiality of the simulated agents without compromising on simulation accuracy. We showcase our protocols on a case study with an epidemiological simulation comprising over 150,000 agents. We believe this is a critical step towards deploying agent-based models to real-world applications.

cs.MA↗

arXiv2024

Measurement of Snowpack Density, Grain Size, and Black Carbon Concentration Using Time-domain Diffuse Optics

Diffuse optical spectroscopy (DOS) techniques aim to characterize scattering media by examining their optical response to laser illumination. Time-domain DOS methods involve illuminating the medium with a laser pulse and using a fast photodetector to measure the time-dependent intensity of light that exits the medium after multiple scattering events. While DOS research traditionally focused on characterizing biological tissues, we demonstrate that time-domain diffuse optical measurements can also be used to characterize snow. We introduce a model that predicts the time-dependent reflectance of a dry snowpack as a function of its density, grain size, and black carbon content, and we develop an algorithm that retrieves these properties from measurements at two wavelengths. To validate our approach, we use a two-wavelength lidar system and measure the time-dependent reflectance of snow samples with varying properties. Rather than measuring direct surface returns, our system captures photons that enter and exit the snow at different points, separated by a small distance (4-10cm). We find strong, linear correlations between our retrievals of density and black carbon concentration, and ground truth measurements. Although the correlation is not as strong, we also find that our method is capable of distinguishing between small and large grains.

physics.optics↗

arXiv2024

PlatoNeRF: 3D Reconstruction in Plato's Cave via Single-View Two-Bounce Lidar

3D reconstruction from a single-view is challenging because of the ambiguity from monocular cues and lack of information about occluded regions. Neural radiance fields (NeRF), while popular for view synthesis and 3D reconstruction, are typically reliant on multi-view images. Existing methods for single-view 3D reconstruction with NeRF rely on either data priors to hallucinate views of occluded regions, which may not be physically accurate, or shadows observed by RGB cameras, which are difficult to detect in ambient light and low albedo backgrounds. We propose using time-of-flight data captured by a single-photon avalanche diode to overcome these limitations. Our method models two-bounce optical paths with NeRF, using lidar transient data for supervision. By leveraging the advantages of both NeRF and two-bounce light measured by lidar, we demonstrate that we can reconstruct visible and occluded geometry without data priors or reliance on controlled ambient lighting or scene albedo. In addition, we demonstrate improved generalization under practical constraints on sensor spatial- and temporal-resolution. We believe our method is a promising direction as single-photon lidars become ubiquitous on consumer devices, such as phones, tablets, and headsets.

cs.CV↗

arXiv2024

DecentNeRFs: Decentralized Neural Radiance Fields from Crowdsourced Images

Neural radiance fields (NeRFs) show potential for transforming images captured worldwide into immersive 3D visual experiences. However, most of this captured visual data remains siloed in our camera rolls as these images contain personal details. Even if made public, the problem of learning 3D representations of billions of scenes captured daily in a centralized manner is computationally intractable. Our approach, DecentNeRF, is the first attempt at decentralized, crowd-sourced NeRFs that require $\sim 10^4\times$ less server computing for a scene than a centralized approach. Instead of sending the raw data, our approach requires users to send a 3D representation, distributing the high computation cost of training centralized NeRFs between the users. It learns photorealistic scene representations by decomposing users' 3D views into personal and global NeRFs and a novel optimally weighted aggregation of only the latter. We validate the advantage of our approach to learn NeRFs with photorealism and minimal server computation cost on structured synthetic and real-world photo tourism datasets. We further analyze how secure aggregation of global NeRFs in DecentNeRF minimizes the undesired reconstruction of personal content by the server.

cs.CV↗

arXiv2024

CoDream: Exchanging dreams instead of models for federated aggregation with heterogeneous models

Federated Learning (FL) enables collaborative optimization of machine learning models across decentralized data by aggregating model parameters. Our approach extends this concept by aggregating "knowledge" derived from models, instead of model parameters. We present a novel framework called CoDream, where clients collaboratively optimize randomly initialized data using federated optimization in the input data space, similar to how randomly initialized model parameters are optimized in FL. Our key insight is that jointly optimizing this data can effectively capture the properties of the global data distribution. Sharing knowledge in data space offers numerous benefits: (1) model-agnostic collaborative learning, i.e., different clients can have different model architectures; (2) communication that is independent of the model size, eliminating scalability concerns with model parameters; (3) compatibility with secure aggregation, thus preserving the privacy benefits of federated learning; (4) allowing of adaptive optimization of knowledge shared for personalized learning. We empirically validate CoDream on standard FL tasks, demonstrating competitive performance despite not sharing model parameters. Our code: https://mitmedialab.github.io/codream.github.io/

cs.LG↗

arXiv2024

Domain Generalization In Robust Invariant Representation

Unsupervised approaches for learning representations invariant to common transformations are used quite often for object recognition. Learning invariances makes models more robust and practical to use in real-world scenarios. Since data transformations that do not change the intrinsic properties of the object cause the majority of the complexity in recognition tasks, models that are invariant to these transformations help reduce the amount of training data required. This further increases the model's efficiency and simplifies training. In this paper, we investigate the generalization of invariant representations on out-of-distribution data and try to answer the question: Do model representations invariant to some transformations in a particular seen domain also remain invariant in previously unseen domains? Through extensive experiments, we demonstrate that the invariant model learns unstructured latent representations that are robust to distribution shifts, thus making invariance a desirable property for training in resource-constrained settings.

cs.LG↗