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Conversational assistive robots can aid people, especially those with cognitive impairments, to accomplish various tasks such as cooking meals, performing exercises, or operating machines. However, to interact with people effectively, robots must recognize human plans and goals from noisy observations of human actions, even when the user acts sub-optimally. Previous works on Plan and Goal Recognition (PGR) as planning have used hierarchical task networks (HTN) to model the actor/human. However, these techniques are insufficient as they do not have user engagement via natural modes of interaction such as language. Moreover, they have no mechanisms to let users, especially those with cognitive impairments, know of a deviation from their original plan or about any sub-optimal actions taken towards their goal. We propose a novel framework for plan and goal recognition in partially observable domains -- Dialogue for Goal Recognition (D4GR) enabling a robot to rectify its belief in human progress by asking clarification questions about noisy sensor data and sub-optimal human actions. We evaluate the performance of D4GR over two simulated domains -- kitchen and blocks domain. With language feedback and the world state information in a hierarchical task model, we show that D4GR framework for the highest sensor noise performs 1% better than HTN in goal accuracy in both domains. For plan accuracy, D4GR outperforms by 4% in the kitchen domain and 2% in the blocks domain in comparison to HTN. The ALWAYS-ASK oracle outperforms our policy by 3% in goal recognition and 7%in plan recognition. D4GR does so by asking 68% fewer questions than an oracle baseline. We also demonstrate a real-world robot scenario in the kitchen domain, validating the improved plan and goal recognition of D4GR in a realistic setting.

Modern computer systems are highly configurable, with hundreds of configuration options that interact, resulting in an enormous configuration space. As a result, optimizing performance goals (e.g., latency) in such systems is challenging due to frequent uncertainties in their environments (e.g., workload fluctuations). Recently, transfer learning has been applied to address this problem by reusing knowledge from configuration measurements from the source environments, where it is cheaper to intervene than the target environment, where any intervention is costly or impossible. Recent empirical research showed that statistical models can perform poorly when the deployment environment changes because the behavior of certain variables in the models can change dramatically from source to target. To address this issue, we propose CAMEO, a method that identifies invariant causal predictors under environmental changes, allowing the optimization process to operate in a reduced search space, leading to faster optimization of system performance. We demonstrate significant performance improvements over state-of-the-art optimization methods in MLperf deep learning systems, a video analytics pipeline, and a database system.

For autonomous vehicles to proactively plan safe trajectories and make informed decisions, they must be able to predict the future occupancy states of the local environment. However, common issues with occupancy prediction include predictions where moving objects vanish or become blurred, particularly at longer time horizons. We propose an environment prediction framework that incorporates environment semantics for future occupancy prediction. Our method first semantically segments the environment and uses this information along with the occupancy information to predict the spatiotemporal evolution of the environment. We validate our approach on the real-world Waymo Open Dataset. Compared to baseline methods, our model has higher prediction accuracy and is capable of maintaining moving object appearances in the predictions for longer prediction time horizons.

Modern agile software projects are subject to constant change, making it essential to re-asses overall delay risk throughout the project life cycle. Existing effort estimation models are static and not able to incorporate changes occurring during project execution. In this paper, we propose a dynamic model for continuously predicting overall delay using delay patterns and Bayesian modeling. The model incorporates the context of the project phase and learns from changes in team performance over time. We apply the approach to real-world data from 4,040 epics and 270 teams at ING. An empirical evaluation of our approach and comparison to the state-of-the-art demonstrate significant improvements in predictive accuracy. The dynamic model consistently outperforms static approaches and the state-of-the-art, even during early project phases.

Treasure hunt and rendezvous are fundamental tasks performed by mobile agents in graphs. In treasure hunt, an agent has to find an inert target (called treasure) situated at an unknown node of the graph. In rendezvous, two agents, initially located at distinct nodes of the graph, traverse its edges in synchronous rounds and have to meet at some node. We assume that the graph is connected (otherwise none of these tasks is feasible) and consider deterministic treasure hunt and rendezvous algorithms. The time of a treasure hunt algorithm is the worst-case number of edge traversals performed by the agent until the treasure is found. The time of a rendezvous algorithm is the worst-case number of rounds since the wakeup of the earlier agent until the meeting. To the best of our knowledge, all known treasure hunt and rendezvous algorithms rely on the assumption that degrees of all nodes are finite, even when the graph itself may be infinite. In the present paper we remove this assumption for the first time, and consider both above tasks in arbitrary connected graphs whose nodes can have either finite or countably infinite degrees. Our main result is the first universal treasure hunt algorithm working for arbitrary connected graphs. We prove that the time of this algorithm has optimal order of magnitude among all possible treasure hunt algorithms working for arbitrary connected graphs. As a consequence of this result we obtain the first universal rendezvous algorithm working for arbitrary connected graphs. The time of this algorithm is polynomial in a lower bound holding in many graphs, in particular in the tree all of whose degrees are infinite.

When interacting with other non-competitive decision-making agents, it is critical for an autonomous agent to have inferable behavior: Their actions must convey their intention and strategy. For example, an autonomous car's strategy must be inferable by the pedestrians interacting with the car. We model the inferability problem using a repeated bimatrix Stackelberg game with observations where a leader and a follower repeatedly interact. During the interactions, the leader uses a fixed, potentially mixed strategy. The follower, on the other hand, does not know the leader's strategy and dynamically reacts based on observations that are the leader's previous actions. In the setting with observations, the leader may suffer from an inferability loss, i.e., the performance compared to the setting where the follower has perfect information of the leader's strategy. We show that the inferability loss is upper-bounded by a function of the number of interactions and the stochasticity level of the leader's strategy, encouraging the use of inferable strategies with lower stochasticity levels. As a converse result, we also provide a game where the required number of interactions is lower bounded by a function of the desired inferability loss.

As the reliability of cheap, off-the-shelf autonomous platforms increases, so does the risk posed by intelligent multi-agent systems to military operations. In the contemporary context of the Russo-Ukrainian war alone, we have seen autonomous aerial vehicles and surface vessels deployed both individually and in multitude to deliver critical effects to both sides. While there is a large body of literature on tactical level communications and interactions between agents, the exploration of high-level command and control (C2) structures that will underpin future autonomous multi-agent military operations is a less explored area of research. We propose a quantitative game-theoretic framework to study effective C2 structures in cooperative and competitive multi-agent swarming scenarios. To test our framework, we construct a virtual environment where two adversarial swarms compete to achieve outcomes comparable to real-world scenarios. The framework we present in this paper enables us to quickly test and interrogate different C2 configurations in multi-agent systems to explore C2 as a force multiplier when at a force disadvantage.

Autonomic computing investigates how systems can achieve (user) specified control outcomes on their own, without the intervention of a human operator. Autonomic computing fundamentals have been substantially influenced by those of control theory for closed and open-loop systems. In practice, complex systems may exhibit a number of concurrent and inter-dependent control loops. Despite research into autonomic models for managing computer resources, ranging from individual resources (e.g., web servers) to a resource ensemble (e.g., multiple resources within a data center), research into integrating Artificial Intelligence (AI) and Machine Learning (ML) to improve resource autonomy and performance at scale continues to be a fundamental challenge. The integration of AI/ML to achieve such autonomic and self-management of systems can be achieved at different levels of granularity, from full to human-in-the-loop automation. In this article, leading academics, researchers, practitioners, engineers, and scientists in the fields of cloud computing, AI/ML, and quantum computing join to discuss current research and potential future directions for these fields. Further, we discuss challenges and opportunities for leveraging AI and ML in next generation computing for emerging computing paradigms, including cloud, fog, edge, serverless and quantum computing environments.

Deep neural networks have revolutionized many machine learning tasks in power systems, ranging from pattern recognition to signal processing. The data in these tasks is typically represented in Euclidean domains. Nevertheless, there is an increasing number of applications in power systems, where data are collected from non-Euclidean domains and represented as the graph-structured data with high dimensional features and interdependency among nodes. The complexity of graph-structured data has brought significant challenges to the existing deep neural networks defined in Euclidean domains. Recently, many studies on extending deep neural networks for graph-structured data in power systems have emerged. In this paper, a comprehensive overview of graph neural networks (GNNs) in power systems is proposed. Specifically, several classical paradigms of GNNs structures (e.g., graph convolutional networks, graph recurrent neural networks, graph attention networks, graph generative networks, spatial-temporal graph convolutional networks, and hybrid forms of GNNs) are summarized, and key applications in power systems such as fault diagnosis, power prediction, power flow calculation, and data generation are reviewed in detail. Furthermore, main issues and some research trends about the applications of GNNs in power systems are discussed.

Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that incorporates features from multiple scales. Initially, a foreground mask in a video frame is segmented into multi-scale superpixels. Then the human-like regions in the segmented area are identified by matching a set of extracted features from superpixels against learned features in a codebook. A carried object probability map is generated using the complement of the matching probabilities of superpixels to human-like regions and background information. A group of superpixels with high carried object probability and strong edge support is then merged to obtain the shape of the carried object. We applied our method to two challenging datasets, and results show that our method is competitive with or better than the state-of-the-art.