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Model complexity remains a key feature of any proposed data generating mechanism. Measures of complexity can be extended to complex patterns such as signals in time and graphs. In this paper, we are concerned with the well-studied class of exchangeable graphs. Exchangeability for graphs implies a distributional invariance under node permutation and is a suitable default model that can widely be used for network data. For this well-studied class of graphs, we make a choice to quantify model complexity based on the (Shannon) entropy, resulting in graphon entropy. We estimate the entropy of the generating mechanism of a given graph, instead of choosing a specific graph descriptor suitable only for one graph generating mechanism. In this manner, we naturally consider the global properties of a graph and capture its important graph-theoretic and topological properties. Under an increasingly complex set of generating mechanisms, we propose a set of estimators of graphon entropy as measures of complexity for real-world graphs. We determine the large--sample properties of such estimators and discuss their usage for characterizing evolving real-world graphs.

Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear dynamics. The algorithm is based on distributed cooperative optimisation and output regulation, and it achieves global optimum by utilising only information shared among neighbouring robots. Technically, a high-level distributed optimisation algorithm for multi-robot systems is presented, which will serve as an optimal reference generator for each individual agent. Then, based on the distributed optimisation algorithm, an output regulation method is utilised to solve the optimal coordination problem for general linear dynamic systems. The convergence of the proposed algorithm is theoretically proved. Both numerical simulations and real-time physical robot experiments are conducted to validate the effectiveness of the proposed cooperative control algorithms.

This work presents a distributed algorithm for resolving cooperative multi-vehicle conflicts in highly constrained spaces. By formulating the conflict resolution problem as a Multi-Agent Reinforcement Learning (RL) problem, we can train a policy offline to drive the vehicles towards their destinations safely and efficiently in a simplified discrete environment. During the online execution, each vehicle first simulates the interaction among vehicles with the trained policy to obtain its strategy, which is used to guide the computation of a reference trajectory. A distributed Model Predictive Controller (MPC) is then proposed to track the reference while avoiding collisions. The preliminary results show that the combination of RL and distributed MPC has the potential to guide vehicles to resolve conflicts safely and smoothly while being less computationally demanding than the centralized approach.

Current methods of blended targets domain adaptation (BTDA) usually infer or consider domain label information but underemphasize hybrid categorical feature structures of targets, which yields limited performance, especially under the label distribution shift. We demonstrate that domain labels are not directly necessary for BTDA if categorical distributions of various domains are sufficiently aligned even facing the imbalance of domains and the label distribution shift of classes. However, we observe that the cluster assumption in BTDA does not comprehensively hold. The hybrid categorical feature space hinders the modeling of categorical distributions and the generation of reliable pseudo labels for categorical alignment. To address these, we propose a categorical domain discriminator guided by uncertainty to explicitly model and directly align categorical distributions $P(Z|Y)$. Simultaneously, we utilize the low-level features to augment the single source features with diverse target styles to rectify the biased classifier $P(Y|Z)$ among diverse targets. Such a mutual conditional alignment of $P(Z|Y)$ and $P(Y|Z)$ forms a mutual reinforced mechanism. Our approach outperforms the state-of-the-art in BTDA even compared with methods utilizing domain labels, especially under the label distribution shift, and in single target DA on DomainNet.

Many industrial applications rely on real-time optimization to improve key performance indicators. In the case of unknown process characteristics, real-time optimization becomes challenging, particularly for the satisfaction of safety constraints. In this paper, we demonstrate the application of an adaptive and explorative real-time optimization framework to an industrial refrigeration process, where we learn the process characteristics through changes in process control targets and through exploration to satisfy safety constraints. We quantify the uncertainty in unknown compressor characteristics of the refrigeration plant by using Gaussian processes and incorporate this uncertainty into the objective function of the real-time optimization problem as a weighted cost term. We adaptively control the weight of this term to drive exploration. The results of our simulation experiments indicate the proposed approach can help to increase the energy efficiency of the considered refrigeration process, closely approximating the performance of a solution that has complete information about the compressor performance characteristics.

With humans interacting with AI-based systems at an increasing rate, it is necessary to ensure the artificial systems are acting in a manner which reflects understanding of the human. In the case of humans and artificial AI agents operating in the same environment, we note the significance of comprehension and response to the actions or capabilities of a human from an agent's perspective, as well as the possibility to delegate decisions either to humans or to agents, depending on who is deemed more suitable at a certain point in time. Such capabilities will ensure an improved responsiveness and utility of the entire human-AI system. To that end, we investigate the use of cognitively inspired models of behavior to predict the behavior of both human and AI agents. The predicted behavior, and associated performance with respect to a certain goal, is used to delegate control between humans and AI agents through the use of an intermediary entity. As we demonstrate, this allows overcoming potential shortcomings of either humans or agents in the pursuit of a goal.

Aggregate measures of family planning are used to monitor demand for and usage of contraceptive methods in populations globally, for example as part of the FP2030 initiative. Family planning measures for low- and middle-income countries are typically based on data collected through cross-sectional household surveys. Recently proposed measures account for sexual activity through assessment of the distribution of time-between-sex (TBS) in the population of interest. In this paper, we propose a statistical approach to estimate the distribution of TBS using data typically available in low- and middle-income countries, while addressing two major challenges. The first challenge is that timing of sex information is typically limited to women's time-since-last-sex (TSLS) data collected in the cross-sectional survey. In our proposed approach, we adopt the current duration method to estimate the distribution of TBS using the available TSLS data, from which the frequency of sex at the population level can be derived. Furthermore, the observed TSLS data are subject to reporting issues because they can be reported in different units and may be rounded off. To apply the current duration approach and account for these data reporting issues, we develop a flexible Bayesian model, and provide a detailed technical description of the proposed modeling approach.

Sensitivity analysis measures the influence of a Bayesian network's parameters on a quantity of interest defined by the network, such as the probability of a variable taking a specific value. Various sensitivity measures have been defined to quantify such influence, most commonly some function of the quantity of interest's partial derivative with respect to the network's conditional probabilities. However, computing these measures in large networks with thousands of parameters can become computationally very expensive. We propose an algorithm combining automatic differentiation and exact inference to efficiently calculate the sensitivity measures in a single pass. It first marginalizes the whole network once, using e.g. variable elimination, and then backpropagates this operation to obtain the gradient with respect to all input parameters. Our method can be used for one-way and multi-way sensitivity analysis and the derivation of admissible regions. Simulation studies highlight the efficiency of our algorithm by scaling it to massive networks with up to 100'000 parameters and investigate the feasibility of generic multi-way analyses. Our routines are also showcased over two medium-sized Bayesian networks: the first modeling the country-risks of a humanitarian crisis, the second studying the relationship between the use of technology and the psychological effects of forced social isolation during the COVID-19 pandemic. An implementation of the methods using the popular machine learning library PyTorch is freely available.

Many practical applications of robotics require systems that can operate safely despite uncertainty. In the context of motion planning, two types of uncertainty are particularly important when planning safe robot trajectories. The first is environmental uncertainty -- uncertainty in the locations of nearby obstacles, stemming from sensor noise or (in the case of obstacles' future locations) prediction error. The second class of uncertainty is uncertainty in the robots own state, typically caused by tracking or estimation error. To achieve high levels of safety, it is necessary for robots to consider both of these sources of uncertainty. In this paper, we propose a risk-bounded trajectory optimization algorithm, known as Sequential Convex Optimization with Risk Optimization (SCORA), to solve chance-constrained motion planning problems despite both environmental uncertainty and tracking error. Through experiments in simulation, we demonstrate that SCORA significantly outperforms state-of-the-art risk-aware motion planners both in planning time and in the safety of the resulting trajectories.

There is a growing interest in developing automated agents that can work alongside humans. In addition to completing the assigned task, such an agent will undoubtedly be expected to behave in a manner that is preferred by the human. This requires the human to communicate their preferences to the agent. To achieve this, the current approaches either require the users to specify the reward function or the preference is interactively learned from queries that ask the user to compare behavior. The former approach can be challenging if the internal representation used by the agent is inscrutable to the human while the latter is unnecessarily cumbersome for the user if their preference can be specified more easily in symbolic terms. In this work, we propose PRESCA (PREference Specification through Concept Acquisition), a system that allows users to specify their preferences in terms of concepts that they understand. PRESCA maintains a set of such concepts in a shared vocabulary. If the relevant concept is not in the shared vocabulary, then it is learned. To make learning a new concept more feedback efficient, PRESCA leverages causal associations between the target concept and concepts that are already known. In addition, we use a novel data augmentation approach to further reduce required feedback. We evaluate PRESCA by using it on a Minecraft environment and show that it can effectively align the agent with the user's preference.