The primary objective of this paper is to investigate distributed dynamic programming (DP) and distributed temporal difference (TD) learning algorithms for networked multi-agent Markov decision problems (MAMDPs). In our study, we adopt a distributed multi-agent framework where individual agents have access only to their own rewards, lacking insights into the rewards of other agents. Additionally, each agent has the ability to share its parameters with neighboring agents through a communication network, represented by a graph. Our contributions can be summarized in two key points: 1) We introduce a novel distributed DP, inspired by the averaging consensus method in the continuous-time domain. The convergence of this DP is assessed through control theory perspectives. 2) Building upon the aforementioned DP, we devise a new distributed TD-learning algorithm and prove its convergence. A standout feature of our proposed distributed DP is its incorporation of two independent dynamic systems, each with a distinct role. This characteristic sets the stage for a novel distributed TD-learning strategy, the convergence of which can be directly established using the Borkar-Meyn theorem.
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This paper studies the design of energy-efficient artificial noise (AN) schemes in the context of physical layer security in visible light communications (VLC). Two different transmission schemes termed $\textit{selective AN-aided single-input single-output (SISO)}$ and $\textit{AN-aided multiple-input single-output (MISO)}$ are examined and compared in terms of secrecy energy efficiency (SEE). In the former, the closest LED luminaire to the legitimate user (Bob) is the information-bearing signal's transmitter. At the same time, the rest of the luminaries act as jammers transmitting AN to degrade the channels of eavesdroppers (Eves). In the latter, the information-bearing signal and AN are combined and transmitted by all luminaries. When Eves' CSI is unknown, an indirect design to improve the SEE is formulated by maximizing Bob's channel's energy efficiency. A low-complexity design based on the zero-forcing criterion is also proposed. In the case of known Eves' CSI, we study the design that maximizes the minimum SEE among those corresponding to all eavesdroppers. At their respective optimal SEEs, simulation results reveal that when Eves' CSI is unknown, the selective AN-aided SISO transmission can archive twice better SEE as the AN-aided MISO does. In contrast, when Eves' CSI is known, the AN-aided MISO outperforms by 30%.
This paper proposes a novel method to improve the accuracy of product search in e-commerce by utilizing a cluster language model. The method aims to address the limitations of the bi-encoder architecture while maintaining a minimal additional training burden. The approach involves labeling top products for each query, generating semantically similar query clusters using the K-Means clustering algorithm, and fine-tuning a global language model into cluster language models on individual clusters. The parameters of each cluster language model are fine-tuned to learn local manifolds in the feature space efficiently, capturing the nuances of various query types within each cluster. The inference is performed by assigning a new query to its respective cluster and utilizing the corresponding cluster language model for retrieval. The proposed method results in more accurate and personalized retrieval results, offering a superior alternative to the popular bi-encoder based retrieval models in semantic search.
A crucial task for a randomized controlled trial (RCT) is to specify a statistical method that can yield an efficient estimator and powerful test for the treatment effect. A novel and effective strategy to obtain efficient and powerful treatment effect inferences is to incorporate predictions from generative artificial intelligence (AI) algorithms into covariate adjustment for the regression analysis of a RCT. Training a generative AI algorithm on historical control data enables one to construct a digital twin generator (DTG) for RCT participants, which utilizes a participant's baseline covariates to generate a probability distribution for their potential control outcome. Summaries of the probability distribution from the DTG are highly predictive of the trial outcome, and adjusting for these features via regression can thus improve the quality of treatment effect inferences, while satisfying regulatory guidelines on statistical analyses, for a RCT. However, a critical assumption in this strategy is homoskedasticity, or constant variance of the outcome conditional on the covariates. In the case of heteroskedasticity, existing covariate adjustment methods yield inefficient estimators and underpowered tests. We propose to address heteroskedasticity via a weighted prognostic covariate adjustment methodology (Weighted PROCOVA) that adjusts for both the mean and variance of the regression model using information obtained from the DTG. We prove that our method yields unbiased treatment effect estimators, and demonstrate via comprehensive simulation studies and case studies from Alzheimer's disease that it can reduce the variance of the treatment effect estimator, maintain the Type I error rate, and increase the power of the test for the treatment effect from 80% to 85%~90% when the variances from the DTG can explain 5%~10% of the variation in the RCT participants' outcomes.
Explainable artificial intelligence (XAI) methods are portrayed as a remedy for debugging and trusting statistical and deep learning models, as well as interpreting their predictions. However, recent advances in adversarial machine learning (AdvML) highlight the limitations and vulnerabilities of state-of-the-art explanation methods, putting their security and trustworthiness into question. The possibility of manipulating, fooling or fairwashing evidence of the model's reasoning has detrimental consequences when applied in high-stakes decision-making and knowledge discovery. This survey provides a comprehensive overview of research concerning adversarial attacks on explanations of machine learning models, as well as fairness metrics. We introduce a unified notation and taxonomy of methods facilitating a common ground for researchers and practitioners from the intersecting research fields of AdvML and XAI. We discuss how to defend against attacks and design robust interpretation methods. We contribute a list of existing insecurities in XAI and outline the emerging research directions in adversarial XAI (AdvXAI). Future work should address improving explanation methods and evaluation protocols to take into account the reported safety issues.
This paper tackles the challenging task of evaluating socially situated conversational robots and presents a novel objective evaluation approach that relies on multimodal user behaviors. In this study, our main focus is on assessing the human-likeness of the robot as the primary evaluation metric. While previous research often relied on subjective evaluations from users, our approach aims to evaluate the robot's human-likeness based on observable user behaviors indirectly, thus enhancing objectivity and reproducibility. To begin, we created an annotated dataset of human-likeness scores, utilizing user behaviors found in an attentive listening dialogue corpus. We then conducted an analysis to determine the correlation between multimodal user behaviors and human-likeness scores, demonstrating the feasibility of our proposed behavior-based evaluation method.
This paper presents a comprehensive study focusing on the influence of DEM type and spatial resolution on the accuracy of flood inundation prediction. The research employs a state-of-the-art deep learning method using a 1D convolutional neural network (CNN). The CNN-based method employs training input data in the form of synthetic hydrographs, along with target data represented by water depth obtained utilizing a 2D hydrodynamic model, LISFLOOD-FP. The performance of the trained CNN models is then evaluated and compared with the observed flood event. This study examines the use of digital surface models (DSMs) and digital terrain models (DTMs) derived from a LIDAR-based 1m DTM, with resolutions ranging from 15 to 30 meters. The proposed methodology is implemented and evaluated in a well-established benchmark location in Carlisle, UK. The paper also discusses the applicability of the methodology to address the challenges encountered in a data-scarce flood-prone region, exemplified by Pakistan. The study found that DTM performs better than DSM at lower resolutions. Using a 30m DTM improved flood depth prediction accuracy by about 21% during the peak stage. Increasing the resolution to 15m increased RMSE and overlap index by at least 50% and 20% across all flood phases. The study demonstrates that while coarser resolution may impact the accuracy of the CNN model, it remains a viable option for rapid flood prediction compared to hydrodynamic modeling approaches.
Ordered sequences of data, specified with a join operation to combine sequences, serve as a foundation for the implementation of parallel functional algorithms. This abstract data type can be elegantly and efficiently implemented using balanced binary trees, where a join operation is provided to combine two trees and rebalance as necessary. In this work, we present a verified implementation and cost analysis of joinable red-black trees in $\textbf{calf}$, a dependent type theory for cost analysis. We implement red-black trees and auxiliary intermediate data structures in such a way that all correctness invariants are intrinsically maintained. Then, we describe and verify precise cost bounds on the operations, making use of the red-black tree invariants. Finally, we implement standard algorithms on sequences using the simple join-based signature and bound their cost in the case that red-black trees are used as the underlying implementation. All proofs are formally mechanized using the embedding of $\textbf{calf}$ in the Agda theorem prover.
This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the first-ever study to apply STL-guided trajectory optimization for bipedal locomotion push recovery, where the robot experiences unexpected disturbances. Existing recovery strategies often struggle with complex task logic reasoning and locomotion robustness evaluation, making them susceptible to failures caused by inappropriate recovery strategies or insufficient robustness. To address this issue, the STL-guided framework generates optimal and safe recovery trajectories that simultaneously satisfy the task specification and maximize the locomotion robustness. Our framework outperforms a state-of-the-art locomotion controller in a high-fidelity dynamic simulation, especially in scenarios involving crossed-leg maneuvers. Furthermore, it demonstrates versatility in tasks such as locomotion on stepping stones, where the robot must select from a set of disjointed footholds to maneuver successfully.
The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.
We introduce a multi-task setup of identifying and classifying entities, relations, and coreference clusters in scientific articles. We create SciERC, a dataset that includes annotations for all three tasks and develop a unified framework called Scientific Information Extractor (SciIE) for with shared span representations. The multi-task setup reduces cascading errors between tasks and leverages cross-sentence relations through coreference links. Experiments show that our multi-task model outperforms previous models in scientific information extraction without using any domain-specific features. We further show that the framework supports construction of a scientific knowledge graph, which we use to analyze information in scientific literature.
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