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Horn-satisfiability or Horn-SAT is the problem of deciding whether a satisfying assignment exists for a Horn formula, a conjunction of clauses each with at most one positive literal (also known as Horn clauses). It is a well-known P-complete problem, which implies that unless P = NC, it is a hard problem to parallelize. In this paper, we empirically show that, under a known simple random model for generating the Horn formula, the ratio of hard-to-parallelize instances (closer to the worst-case behavior) is infinitesimally small. We show that the depth of a parallel algorithm for Horn-SAT is polylogarithmic on average, for almost all instances, while keeping the work linear. This challenges theoreticians and programmers to look beyond worst-case analysis and come up with practical algorithms coupled with respective performance guarantees.

Mobility systems often suffer from a high price of anarchy due to the uncontrolled behavior of selfish users. This may result in societal costs that are significantly higher compared to what could be achieved by a centralized system-optimal controller. Monetary tolling schemes can effectively align the behavior of selfish users with the system-optimum. Yet, they inevitably discriminate the population in terms of income. Artificial currencies were recently presented as an effective alternative that can achieve the same performance, whilst guaranteeing fairness among the population. However, those studies were based on behavioral models that may differ from practical implementations. This paper presents a data-driven approach to automatically adapt artificial-currency tolls within repetitive-game settings. We first consider a parallel-arc setting whereby users commute on a daily basis from an individual origin to an individual destination, choosing a route in exchange of an artificial-currency price or reward, while accounting for the impact of the choices of the other users on travel discomfort. Second, we devise a model-based reinforcement learning controller that autonomously learns the optimal pricing policy by interacting with the proposed framework considering the closeness of the observed aggregate flows to a desired system-optimal distribution as a reward function. Our numerical results show that the proposed data-driven pricing scheme can effectively align the users' flows with the system optimum, significantly reducing the societal costs with respect to the uncontrolled flows (by about 15% and 25% depending on the scenario), and respond to environmental changes in a robust and efficient manner.

In this work we consider a generalization of the well-known multivehicle routing problem: given a network, a set of agents occupying a subset of its nodes, and a set of tasks, we seek a minimum cost sequence of movements subject to the constraint that each task is visited by some agent at least once. The classical version of this problem assumes a central computational server that observes the entire state of the system perfectly and directs individual agents according to a centralized control scheme. In contrast, we assume that there is no centralized server and that each agent is an individual processor with no a priori knowledge of the underlying network (including task and agent locations). Moreover, our agents possess strictly local communication and sensing capabilities (restricted to a fixed radius around their respective locations), aligning more closely with several real-world multiagent applications. These restrictions introduce many challenges that are overcome through local information sharing and direct coordination between agents. We present a fully distributed, online, and scalable reinforcement learning algorithm for this problem whereby agents self-organize into local clusters and independently apply a multiagent rollout scheme locally to each cluster. We demonstrate empirically via extensive simulations that there exists a critical sensing radius beyond which the distributed rollout algorithm begins to improve over a greedy base policy. This critical sensing radius grows proportionally to the $\log^*$ function of the size of the network, and is, therefore, a small constant for any relevant network. Our decentralized reinforcement learning algorithm achieves approximately a factor of two cost improvement over the base policy for a range of radii bounded from below and above by two and three times the critical sensing radius, respectively.

In this paper, we study the problem of robust sparse mean estimation, where the goal is to estimate a $k$-sparse mean from a collection of partially corrupted samples drawn from a heavy-tailed distribution. Existing estimators face two critical challenges in this setting. First, they are limited by a conjectured computational-statistical tradeoff, implying that any computationally efficient algorithm needs $\tilde\Omega(k^2)$ samples, while its statistically-optimal counterpart only requires $\tilde O(k)$ samples. Second, the existing estimators fall short of practical use as they scale poorly with the ambient dimension. This paper presents a simple mean estimator that overcomes both challenges under moderate conditions: it runs in near-linear time and memory (both with respect to the ambient dimension) while requiring only $\tilde O(k)$ samples to recover the true mean. At the core of our method lies an incremental learning phenomenon: we introduce a simple nonconvex framework that can incrementally learn the top-$k$ nonzero elements of the mean while keeping the zero elements arbitrarily small. Unlike existing estimators, our method does not need any prior knowledge of the sparsity level $k$. We prove the optimality of our estimator by providing a matching information-theoretic lower bound. Finally, we conduct a series of simulations to corroborate our theoretical findings. Our code is available at //github.com/huihui0902/Robust_mean_estimation.

We review different (reduced) models for thin structures using bending as principal mechanism to undergo large deformations. Each model consists in the minimization of a fourth order energy, potentially subject to a nonconvex constraint. Equilibrium deformations are approximated using local discontinuous Galerkin (LDG) finite elements. The design of the discrete energies relies on a discrete Hessian operator defined on discontinuous functions with better approximation properties than the piecewise Hessian. Discrete gradient flows are put in place to drive the minimization process. They are chosen for their robustness and ability to preserve the nonconvex constraint. Several numerical experiments are presented to showcase the large variety of shapes that can be achieved with these models.

We show that most structured prediction problems can be solved in linear time and space by considering them as partial orderings of the tokens in the input string. Our method computes real numbers for each token in an input string and sorts the tokens accordingly, resulting in as few as 2 total orders of the tokens in the string. Each total order possesses a set of edges oriented from smaller to greater tokens. The intersection of total orders results in a partial order over the set of input tokens, which is then decoded into a directed graph representing the desired structure. Experiments show that our method achieves 95.4 LAS and 96.9 UAS by using an intersection of 2 total orders, 95.7 LAS and 97.1 UAS with 4 on the English Penn Treebank dependency parsing benchmark. Our method is also the first linear-complexity coreference resolution model and achieves 79.2 F1 on the English OntoNotes benchmark, which is comparable with state of the art.

Learning structured representations of the visual world in terms of objects promises to significantly improve the generalization abilities of current machine learning models. While recent efforts to this end have shown promising empirical progress, a theoretical account of when unsupervised object-centric representation learning is possible is still lacking. Consequently, understanding the reasons for the success of existing object-centric methods as well as designing new theoretically grounded methods remains challenging. In the present work, we analyze when object-centric representations can provably be learned without supervision. To this end, we first introduce two assumptions on the generative process for scenes comprised of several objects, which we call compositionality and irreducibility. Under this generative process, we prove that the ground-truth object representations can be identified by an invertible and compositional inference model, even in the presence of dependencies between objects. We empirically validate our results through experiments on synthetic data. Finally, we provide evidence that our theory holds predictive power for existing object-centric models by showing a close correspondence between models' compositionality and invertibility and their empirical identifiability.

Recent research has provided a wealth of evidence highlighting the pivotal role of high-order interdependencies in supporting the information-processing capabilities of distributed complex systems. These findings may suggest that high-order interdependencies constitute a powerful resource that is, however, challenging to harness and can be readily disrupted. In this paper we contest this perspective by demonstrating that high-order interdependencies can not only exhibit robustness to stochastic perturbations, but can in fact be enhanced by them. Using elementary cellular automata as a general testbed, our results unveil the capacity of dynamical noise to enhance the statistical regularities between agents and, intriguingly, even alter the prevailing character of their interdependencies. Furthermore, our results show that these effects are related to the high-order structure of the local rules, which affect the system's susceptibility to noise and characteristic times-scales. These results deepen our understanding of how high-order interdependencies may spontaneously emerge within distributed systems interacting with stochastic environments, thus providing an initial step towards elucidating their origin and function in complex systems like the human brain.

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.

Artificial intelligence (AI) has become a part of everyday conversation and our lives. It is considered as the new electricity that is revolutionizing the world. AI is heavily invested in both industry and academy. However, there is also a lot of hype in the current AI debate. AI based on so-called deep learning has achieved impressive results in many problems, but its limits are already visible. AI has been under research since the 1940s, and the industry has seen many ups and downs due to over-expectations and related disappointments that have followed. The purpose of this book is to give a realistic picture of AI, its history, its potential and limitations. We believe that AI is a helper, not a ruler of humans. We begin by describing what AI is and how it has evolved over the decades. After fundamentals, we explain the importance of massive data for the current mainstream of artificial intelligence. The most common representations for AI, methods, and machine learning are covered. In addition, the main application areas are introduced. Computer vision has been central to the development of AI. The book provides a general introduction to computer vision, and includes an exposure to the results and applications of our own research. Emotions are central to human intelligence, but little use has been made in AI. We present the basics of emotional intelligence and our own research on the topic. We discuss super-intelligence that transcends human understanding, explaining why such achievement seems impossible on the basis of present knowledge,and how AI could be improved. Finally, a summary is made of the current state of AI and what to do in the future. In the appendix, we look at the development of AI education, especially from the perspective of contents at our own university.