The vision of populating the world with autonomous systems that reduce human labor and improve safety is gradually becoming a reality. Autonomous systems have changed the way space exploration is conducted and are beginning to transform everyday life with a range of household products. In many areas, however, there are considerable barriers to the deployment of fully autonomous systems. We refer to systems that require some degree of human intervention in order to complete a task as semi-autonomous systems. We examine the broad rationale for semi-autonomy and define basic properties of such systems. Accounting for the human in the loop presents a considerable challenge for current planning techniques. We examine various design choices in the development of semi-autonomous systems and their implications on planning and execution. Finally, we discuss fruitful research directions for advancing the science of semi-autonomy.

Living organisms adapt to challenges through evolution. This has proven to be a key difficulty in developing therapies, since the organisms evolve resistance.I propose the wild idea of steering evolution strategically — using computational game theory for (typically incomplete-information) multistage games and opponent exploitation techniques. A sequential contingency plan for steering evolution is constructed computationally for the setting at hand. In the biological context, the opponent (e.g., a disease) has a systematic handicap because it evolves myopically. This can be exploited by computing trapping strategies that cause the opponent to evolve into states where it can be handled effectively. Potential application classes include therapeutics at the population, individual, and molecular levels (drug design), as well as cell repurposing and synthetic biology.

We propose revisions to the research agenda in Automated Planning. The proposal is based on a review of the role of the Planning Domain Definition Language (PDDL) in the activities of the AI planning community and the impact of PDDL on parts of its research agenda. We specifically show how specific properties of PDDL have impacted research on planning, by putting emphasis on certain research topics and complicating others. We argue that the development of more advanced modeling languages would be — analogously to the impact PDDL has had — a low overhead and smooth route for the ICAPS community shift its research focus to increasingly promising and relevant research topics.

As an important and challenging problem in computer vision and graphics, keypoint-based object tracking is typically formulated in a spatio-temporal statistical learning framework. However, most existing keypoint trackers are incapable of effectively modeling and balancing the following three aspects in a simultaneous manner: temporal model coherence across frames, spatial model consistency within frames, and discriminative feature construction. To address this issue, we propose a robust keypoint tracker based on spatio-temporal multi-task structured output optimization driven by discriminative metric learning. Consequently, temporal model coherence is characterized by multi-task structured keypoint model learning over several adjacent frames, while spatial model consistency is modeled by solving a geometric verification based structured learning problem. Discriminative feature construction is enabled by metric learning to ensure the intra-class compactness and inter-class separability. Finally, the above three modules are simultaneously optimized in a joint learning scheme. Experimental results have demonstrated the effectiveness of our tracker.

Face verification remains a challenging problem in very complex conditions with large variations such as pose, illumination, expression, and occlusions. This problemis exacerbated when we rely unrealistically on a singletraining data source, which is often insufficient to coverthe intrinsically complex face variations. This paperproposes a principled multi-task learning approachbased on Discriminative Gaussian Process Latent VariableModel (DGPLVM), named GaussianFace, for faceverification. In contrast to relying unrealistically on asingle training data source, our model exploits additional data from multiple source-domains to improve the generalization performance of face verification inan unknown target-domain. Importantly, our model can adapt automatically to complex data distributions, and therefore can well capture complex face variations inherent in multiple sources. To enhance discriminative power, we introduced a more efficient equivalent form of Kernel Fisher Discriminant Analysis to DGPLVM.To speed up the process of inference and prediction, we exploited the low rank approximation method. Extensive experiments demonstrated the effectiveness of the proposed model in learning from diverse data sources and generalizing to unseen domains. Specifically, the accuracy of our algorithm achieved an impressive accuracyrate of 98.52% on the well-known and challenging Labeled Faces in the Wild (LFW) benchmark. For the first time, the human-level performance in face verification (97.53%) on LFW is surpassed.

Automatically recognizing a large number of action categories from videos is of significant importance for video understanding. Most existing works focused on the design of more discriminative feature representation, and have achieved promising results when the positive samples are enough. However, very limited efforts were spent on recognizing a novel action without any positive exemplars, which is often the case in the real settings due to the large amount of action classes and the users' queries dramatic variations. To address this issue, we propose to perform action recognition when no positive exemplars of that class are provided, which is often known as the zero-shot learning. Different from other zero-shot learning approaches, which exploit attributes as the intermediate layer for the knowledge transfer, our main contribution is SIR, which directly leverages the semantic inter-class relationships between the known and unknown actions followed by label transfer learning. The inter-class semantic relationships are automatically measured by continuous word vectors, which learned by the skip-gram model using the large-scale text corpus. Extensive experiments on the UCF101 dataset validate the superiority of our method over fully-supervised approaches using few positive exemplars.

We present an unsupervised approach for abnormal event detection in videos. We propose, given a dictionary of features learned from local spatiotemporal cuboids using the sparse coding objective, the abnormality of an event depends jointly on two factors: the frequency of each feature in reconstructing all events (or, rarity of a feature) and the strength by which it is used in reconstructing the current event (or, the absolute coefficient). The Incremental Coding Length (ICL) of a feature is a measure of its entropy gain. Given a dictionary, the ICL computation does not involve any parameter, is computationally efficient and has been used for saliency detection in images with impressive results. In this paper, the rarity of a dictionary feature is learned online as its average energy, a function of its ICL. The proposed approach is applicable to real world streaming videos. Experiments on three benchmark datasets and evaluations in comparison with a number of mainstream algorithms show that the approach is comparable to the state-of-the-art.

Timed Failure Propagation Graphs (TFPGs) are a formalism used in industry to describe failure propagation in a dynamic partially observable system. TFPGs are commonly used to perform model-based diagnosis. As in any model-based diagnosis approach, however, the quality of the diagnosis strongly depends on the quality of the model. Approaches to certify the quality of the TFPG are limited and mainly rely on testing. In this work we address this problem by leveraging efficient Satisfiability Modulo Theories (SMT) engines to perform exhaustive reasoning on TFPGs. We apply model-checking techniques to certify that a given TFPG satisfies (or not) a property of interest. Moreover, we discuss the problem of refinement and diagnosability testing and empirically show that our technique can be used to efficiently solve them.

Temporal uncertainty in large-scale logistics forces one to trade off between lost efficiency through built-in slack and costly replanning when deadlines are missed. Due to the difficulty of reasoning about such likelihoods and consequences, a computational framework is needed to quantify and bound the risk of violating scheduling requirements. This work addresses the chance-constrained scheduling problem, where actions' durations are modeled probabilistically. Our solution method uses conflict-directed risk allocation to efficiently compute a scheduling policy. The key insight, compared to previous work in probabilistic scheduling, is to decouple the reasoning about temporal and risk constraints. This decomposes the problem into a separate master and subproblem, which can be iteratively solved much quicker. Through a set of simulated car-sharing scenarios, it is empirically shown that conflict-directed risk allocation computes solutions nearly an order of magnitude faster than prior art, which considers all constraints in a single lump-sum optimization.

Interruptible pure exploration in multi-armed bandits (MABs) is a key component of Monte-Carlo tree search algorithms for sequential decision problems. We introduce Discriminative Bucketing (DB), a novel family of strategies for pure exploration in MABs, which allows for adapting recent advances in non-interruptible strategies to the interruptible setting, while guaranteeing exponential-rate performance improvement over time. Our experimental evaluation demonstrates that the corresponding instances of DB favorably compete both with the currently popular strategies UCB1 and Epsilon-Greedy, as well as with the conservative uniform sampling.