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Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the case because humans adapt their behavior to that of the robot, raising the need for intricate planning and prediction. In this paper, we propose a novel optimization-based motion planning algorithm, which generates robot motions, while simultaneously maximizing the human trajectory likelihood under a data-driven predictive model. Considering planning and prediction together allows us to formulate objective and constraint functions in the joint human-robot state space. Key to the approach are added latent space modifiers to a differentiable human predictive model based on a dedicated recurrent neural network. These modifiers allow to change the human prediction within motion optimization. We empirically evaluate our method using the publicly available MoGaze dataset. Our results indicate that the proposed framework outperforms current baselines for planning handover trajectories and avoiding collisions between a robot and a human. Our experiments demonstrate collaborative motion trajectories, where both, the human prediction and the robot plan, adapt to each other.

Understanding structure-property relations is essential to optimally design materials for specific applications. Two-scale simulations are often employed to analyze the effect of the microstructure on a component's macroscopic properties. However, they are typically computationally expensive and infeasible in multi-query contexts such as optimization and material design. To make such analyses amenable, the microscopic simulations can be replaced by surrogate models that must be able to handle a wide range of microstructural parameters. This work focuses on extending the methodology of a previous work, where an accurate surrogate model was constructed for microstructures under varying loading and material parameters using proper orthogonal decomposition and Gaussian process regression, to treat geometrical parameters. To this end, a method that transforms different geometries onto a parent domain is presented. We propose to solve an auxiliary problem based on linear elasticity to obtain the geometrical transformations. Using these transformations, combined with the nonlinear microscopic problem, we derive a fast-to-evaluate surrogate model with the following key features: (1) the predictions of the effective quantities are independent of the auxiliary problem, (2) the predicted stress fields fulfill the microscopic balance laws and are periodic, (3) the method is non-intrusive, (4) the stress field for all geometries can be recovered, and (5) the sensitivities are available and can be readily used for optimization and material design. The proposed methodology is tested on several composite microstructures, where rotations and large variations in the shape of inclusions are considered. Finally, a two-scale example is shown, where the surrogate model achieves a high accuracy and significant speed up, demonstrating its potential in two-scale shape optimization and material design problems.

Deep Reinforcement Learning (RL) is mainly studied in a setting where the training and the testing environments are similar. But in many practical applications, these environments may differ. For instance, in control systems, the robot(s) on which a policy is learned might differ from the robot(s) on which a policy will run. It can be caused by different internal factors (e.g., calibration issues, system attrition, defective modules) or also by external changes (e.g., weather conditions). There is a need to develop RL methods that generalize well to variations of the training conditions. In this article, we consider the simplest yet hard to tackle generalization setting where the test environment is unknown at train time, forcing the agent to adapt to the system's new dynamics. This online adaptation process can be computationally expensive (e.g., fine-tuning) and cannot rely on meta-RL techniques since there is just a single train environment. To do so, we propose an approach where we learn a subspace of policies within the parameter space. This subspace contains an infinite number of policies that are trained to solve the training environment while having different parameter values. As a consequence, two policies in that subspace process information differently and exhibit different behaviors when facing variations of the train environment. Our experiments carried out over a large variety of benchmarks compare our approach with baselines, including diversity-based methods. In comparison, our approach is simple to tune, does not need any extra component (e.g., discriminator) and learns policies able to gather a high reward on unseen environments.

The pursuit-evasion game in Smart City brings a profound impact on the Multi-vehicle Pursuit (MVP) problem, when police cars cooperatively pursue suspected vehicles. Existing studies on the MVP problems tend to set evading vehicles to move randomly or in a fixed prescribed route. The opponent modeling method has proven considerable promise in tackling the non-stationary caused by the adversary agent. However, most of them focus on two-player competitive games and easy scenarios without the interference of environments. This paper considers a Team-to-Team Multi-vehicle Pursuit (T2TMVP) problem in the complicated urban traffic scene where the evading vehicles adopt the pre-trained dynamic strategies to execute decisions intelligently. To solve this problem, we propose an opponent-aware reinforcement learning via maximizing mutual information indicator (OARLM2I2) method to improve pursuit efficiency in the complicated environment. First, a sequential encoding-based opponents joint strategy modeling (SEOJSM) mechanism is proposed to generate evading vehicles' joint strategy model, which assists the multi-agent decision-making process based on deep Q-network (DQN). Then, we design a mutual information-united loss, simultaneously considering the reward fed back from the environment and the effectiveness of opponents' joint strategy model, to update pursuing vehicles' decision-making process. Extensive experiments based on SUMO demonstrate our method outperforms other baselines by 21.48% on average in reducing pursuit time. The code is available at \url{//github.com/ANT-ITS/OARLM2I2}.

The goal of Bayesian deep learning is to provide uncertainty quantification via the posterior distribution. However, exact inference over the weight space is computationally intractable due to the ultra-high dimensions of the neural network. Variational inference (VI) is a promising approach, but naive application on weight space does not scale well and often underperform on predictive accuracy. In this paper, we propose a new adaptive variational Bayesian algorithm to train neural networks on weight space that achieves high predictive accuracy. By showing that there is an equivalence to Stochastic Gradient Hamiltonian Monte Carlo(SGHMC) with preconditioning matrix, we then propose an MCMC within EM algorithm, which incorporates the spike-and-slab prior to capture the sparsity of the neural network. The EM-MCMC algorithm allows us to perform optimization and model pruning within one-shot. We evaluate our methods on CIFAR-10, CIFAR-100 and ImageNet datasets, and demonstrate that our dense model can reach the state-of-the-art performance and our sparse model perform very well compared to previously proposed pruning schemes.

Intelligence agents and multi-agent systems play important roles in scenes like the control system of grouped drones, and multi-agent navigation and obstacle avoidance which is the foundational function of advanced application has great importance. In multi-agent navigation and obstacle avoidance tasks, the decision-making interactions and dynamic changes of agents are difficult for traditional route planning algorithms or reinforcement learning algorithms with the increased complexity of the environment. The classical multi-agent reinforcement learning algorithm, Multi-agent deep deterministic policy gradient(MADDPG), solved precedent algorithms' problems of having unstationary training process and unable to deal with environment randomness. However, MADDPG ignored the temporal message hidden beneath agents' interaction with the environment. Besides, due to its CTDE technique which let each agent's critic network to calculate over all agents' action and the whole environment information, it lacks ability to scale to larger amount of agents. To deal with MADDPG's ignorance of the temporal information of the data, this article proposes a new algorithm called MADDPG-LSTMactor, which combines MADDPG with Long short term memory (LSTM). By using agent's observations of continuous timesteps as the input of its policy network, it allows the LSTM layer to process the hidden temporal message. Experimental result demonstrated that this algorithm had better performance in scenarios where the amount of agents is small. Besides, to solve MADDPG's drawback of not being efficient in scenarios where agents are too many, this article puts forward a light-weight MADDPG (MADDPG-L) algorithm, which simplifies the input of critic network. The result of experiments showed that this algorithm had better performance than MADDPG when the amount of agents was large.

Understanding the impact of the most effective policies or treatments on a response variable of interest is desirable in many empirical works in economics, statistics and other disciplines. Due to the widespread winner's curse phenomenon, conventional statistical inference assuming that the top policies are chosen independent of the random sample may lead to overly optimistic evaluations of the best policies. In recent years, given the increased availability of large datasets, such an issue can be further complicated when researchers include many covariates to estimate the policy or treatment effects in an attempt to control for potential confounders. In this manuscript, to simultaneously address the above-mentioned issues, we propose a resampling-based procedure that not only lifts the winner's curse in evaluating the best policies observed in a random sample, but also is robust to the presence of many covariates. The proposed inference procedure yields accurate point estimates and valid frequentist confidence intervals that achieve the exact nominal level as the sample size goes to infinity for multiple best policy effect sizes. We illustrate the finite-sample performance of our approach through Monte Carlo experiments and two empirical studies, evaluating the most effective policies in charitable giving and the most beneficial group of workers in the National Supported Work program.

Motion planning and control are crucial components of robotics applications. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles in automated driving) restrict the robot's motions. Direct methods from optimal control solve a constrained optimization problem. However, in many applications finding a proper cost function is inherently difficult because of the weighting of partially conflicting objectives. On the other hand, Imitation Learning (IL) methods such as Behavior Cloning (BC) provide a intuitive framework for learning decision-making from offline demonstrations and constitute a promising avenue for planning and control in complex robot applications. Prior work primarily relied on soft-constraint approaches, which use additional auxiliary loss terms describing the constraints. However, catastrophic safety-critical failures might occur in out-of-distribution (OOD) scenarios. This work integrates the flexibility of IL with hard constraint handling in optimal control. Our approach constitutes a general framework for constraint robotic motion planning and control using offline IL. Hard constraints are integrated into the learning problem in a differentiable manner, via explicit completion and gradient-based correction. Simulated experiments of mobile robot navigation and automated driving provide evidence for the performance of the proposed method.

In this paper, we propose a novel multi-task learning architecture, which incorporates recent advances in attention mechanisms. Our approach, the Multi-Task Attention Network (MTAN), consists of a single shared network containing a global feature pool, together with task-specific soft-attention modules, which are trainable in an end-to-end manner. These attention modules allow for learning of task-specific features from the global pool, whilst simultaneously allowing for features to be shared across different tasks. The architecture can be built upon any feed-forward neural network, is simple to implement, and is parameter efficient. Experiments on the CityScapes dataset show that our method outperforms several baselines in both single-task and multi-task learning, and is also more robust to the various weighting schemes in the multi-task loss function. We further explore the effectiveness of our method through experiments over a range of task complexities, and show how our method scales well with task complexity compared to baselines.