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In many industrial applications, obtaining labeled observations is not straightforward as it often requires the intervention of human experts or the use of expensive testing equipment. In these circumstances, active learning can be highly beneficial in suggesting the most informative data points to be used when fitting a model. Reducing the number of observations needed for model development alleviates both the computational burden required for training and the operational expenses related to labeling. Online active learning, in particular, is useful in high-volume production processes where the decision about the acquisition of the label for a data point needs to be taken within an extremely short time frame. However, despite the recent efforts to develop online active learning strategies, the behavior of these methods in the presence of outliers has not been thoroughly examined. In this work, we investigate the performance of online active linear regression in contaminated data streams. Our study shows that the currently available query strategies are prone to sample outliers, whose inclusion in the training set eventually degrades the predictive performance of the models. To address this issue, we propose a solution that bounds the search area of a conditional D-optimal algorithm and uses a robust estimator. Our approach strikes a balance between exploring unseen regions of the input space and protecting against outliers. Through numerical simulations, we show that the proposed method is effective in improving the performance of online active learning in the presence of outliers, thus expanding the potential applications of this powerful tool.

The growing interest in language-conditioned robot manipulation aims to develop robots capable of understanding and executing complex tasks, with the objective of enabling robots to interpret language commands and manipulate objects accordingly. While language-conditioned approaches demonstrate impressive capabilities for addressing tasks in familiar environments, they encounter limitations in adapting to unfamiliar environment settings. In this study, we propose a general-purpose, language-conditioned approach that combines base skill priors and imitation learning under unstructured data to enhance the algorithm's generalization in adapting to unfamiliar environments. We assess our model's performance in both simulated and real-world environments using a zero-shot setting. In the simulated environment, the proposed approach surpasses previously reported scores for CALVIN benchmark, especially in the challenging Zero-Shot Multi-Environment setting. The average completed task length, indicating the average number of tasks the agent can continuously complete, improves more than 2.5 times compared to the state-of-the-art method HULC. In addition, we conduct a zero-shot evaluation of our policy in a real-world setting, following training exclusively in simulated environments without additional specific adaptations. In this evaluation, we set up ten tasks and achieved an average 30% improvement in our approach compared to the current state-of-the-art approach, demonstrating a high generalization capability in both simulated environments and the real world. For further details, including access to our code and videos, please refer to //demoviewsite.wixsite.com/spil

Accurately measuring discrimination is crucial to faithfully assessing fairness of trained machine learning (ML) models. Any bias in measuring discrimination leads to either amplification or underestimation of the existing disparity. Several sources of bias exist and it is assumed that bias resulting from machine learning is born equally by different groups (e.g. females vs males, whites vs blacks, etc.). If, however, bias is born differently by different groups, it may exacerbate discrimination against specific sub-populations. Sampling bias, is inconsistently used in the literature to describe bias due to the sampling procedure. In this paper, we attempt to disambiguate this term by introducing clearly defined variants of sampling bias, namely, sample size bias (SSB) and underrepresentation bias (URB). We show also how discrimination can be decomposed into variance, bias, and noise. Finally, we challenge the commonly accepted mitigation approach that discrimination can be addressed by collecting more samples of the underrepresented group.

Humans naturally exploit haptic feedback during contact-rich tasks like loading a dishwasher or stocking a bookshelf. Current robotic systems focus on avoiding unexpected contact, often relying on strategically placed environment sensors. Recently, contact-exploiting manipulation policies have been trained in simulation and deployed on real robots. However, they require some form of real-world adaptation to bridge the sim-to-real gap, which might not be feasible in all scenarios. In this paper we train a contact-exploiting manipulation policy in simulation for the contact-rich household task of loading plates into a slotted holder, which transfers without any fine-tuning to the real robot. We investigate various factors necessary for this zero-shot transfer, like time delay modeling, memory representation, and domain randomization. Our policy transfers with minimal sim-to-real gap and significantly outperforms heuristic and learnt baselines. It also generalizes to plates of different sizes and weights. Demonstration videos and code are available at //sites.google.com/view/compliant-object-insertion.

In this paper, we address the problem of Received Signal Strength map reconstruction based on location-dependent radio measurements and utilizing side knowledge about the local region; for example, city plan, terrain height, gateway position. Depending on the quantity of such prior side information, we employ Neural Architecture Search to find an optimized Neural Network model with the best architecture for each of the supposed settings. We demonstrate that using additional side information enhances the final accuracy of the Received Signal Strength map reconstruction on three datasets that correspond to three major cities, particularly in sub-areas near the gateways where larger variations of the average received signal power are typically observed.

We develop a principled approach to end-to-end learning in stochastic optimization. First, we show that the standard end-to-end learning algorithm admits a Bayesian interpretation and trains a posterior Bayes action map. Building on the insights of this analysis, we then propose new end-to-end learning algorithms for training decision maps that output solutions of empirical risk minimization and distributionally robust optimization problems, two dominant modeling paradigms in optimization under uncertainty. Numerical results for a synthetic newsvendor problem illustrate the key differences between alternative training schemes. We also investigate an economic dispatch problem based on real data to showcase the impact of the neural network architecture of the decision maps on their test performance.

U-statistics play central roles in many statistical learning tools but face the haunting issue of scalability. Significant efforts have been devoted into accelerating computation by U-statistic reduction. However, existing results almost exclusively focus on power analysis, while little work addresses risk control accuracy -- comparatively, the latter requires distinct and much more challenging techniques. In this paper, we establish the first statistical inference procedure with provably higher-order accurate risk control for incomplete U-statistics. The sharpness of our new result enables us to reveal how risk control accuracy also trades off with speed for the first time in literature, which complements the well-known variance-speed trade-off. Our proposed general framework converts the long-standing challenge of formulating accurate statistical inference procedures for many different designs into a surprisingly routine task. This paper covers non-degenerate and degenerate U-statistics, and network moments. We conducted comprehensive numerical studies and observed results that validate our theory's sharpness. Our method also demonstrates effectiveness on real-world data applications.

In many real-world scenarios, Reinforcement Learning (RL) algorithms are trained on data with dynamics shift, i.e., with different underlying environment dynamics. A majority of current methods address such issue by training context encoders to identify environment parameters. Data with dynamics shift are separated according to their environment parameters to train the corresponding policy. However, these methods can be sample inefficient as data are used \textit{ad hoc}, and policies trained for one dynamics cannot benefit from data collected in all other environments with different dynamics. In this paper, we find that in many environments with similar structures and different dynamics, optimal policies have similar stationary state distributions. We exploit such property and learn the stationary state distribution from data with dynamics shift for efficient data reuse. Such distribution is used to regularize the policy trained in a new environment, leading to the SRPO (\textbf{S}tate \textbf{R}egularized \textbf{P}olicy \textbf{O}ptimization) algorithm. To conduct theoretical analyses, the intuition of similar environment structures is characterized by the notion of homomorphous MDPs. We then demonstrate a lower-bound performance guarantee on policies regularized by the stationary state distribution. In practice, SRPO can be an add-on module to context-based algorithms in both online and offline RL settings. Experimental results show that SRPO can make several context-based algorithms far more data efficient and significantly improve their overall performance.

A key feature of out-of-distribution (OOD) detection is to exploit a trained neural network by extracting statistical patterns and relationships through the multi-layer classifier to detect shifts in the expected input data distribution. Despite achieving solid results, several state-of-the-art methods rely on the penultimate or last layer outputs only, leaving behind valuable information for OOD detection. Methods that explore the multiple layers either require a special architecture or a supervised objective to do so. This work adopts an original approach based on a functional view of the network that exploits the sample's trajectories through the various layers and their statistical dependencies. It goes beyond multivariate features aggregation and introduces a baseline rooted in functional anomaly detection. In this new framework, OOD detection translates into detecting samples whose trajectories differ from the typical behavior characterized by the training set. We validate our method and empirically demonstrate its effectiveness in OOD detection compared to strong state-of-the-art baselines on computer vision benchmarks.

An unaddressed challenge in multi-agent coordination is to enable AI agents to exploit the semantic relationships between the features of actions and the features of observations. Humans take advantage of these relationships in highly intuitive ways. For instance, in the absence of a shared language, we might point to the object we desire or hold up our fingers to indicate how many objects we want. To address this challenge, we investigate the effect of network architecture on the propensity of learning algorithms to exploit these semantic relationships. Across a procedurally generated coordination task, we find that attention-based architectures that jointly process a featurized representation of observations and actions have a better inductive bias for learning intuitive policies. Through fine-grained evaluation and scenario analysis, we show that the resulting policies are human-interpretable. Moreover, such agents coordinate with people without training on any human data.