Multiagent planning has seen much progress with the development of formal models such as Dec-POMDPs. However, the complexity of these models—NEXP-Complete even for two agents—has limited scalability. We identify certain mild conditions that are sufficient to make multiagent planning amenable to a scalable approximation w.r.t. the number of agents. This is achieved by constructing a graphical model in which likelihood maximization is equivalent to plan optimization. Using the Expectation-Maximization framework for likelihood maximization, we show that the necessary inference can be decomposed into processes that often involve a small subset of agents, thereby facilitating scalability. We derive a global update rule that combines these local inferences to monotonically increase the overall solution quality. Experiments on a large multiagent planning benchmark confirm the benefits of the new approach in terms of runtime and scalability.

How should we manage a sensor network to optimally guard security-critical infrastructure? How should we coordinate search and rescue helicopters to best locate survivors after a major disaster? In both applications, we would like to control sensing resources in uncertain, adversarial environments. In this paper, we introduce RSense, an efficient algorithm which guarantees near-optimal randomized sensing strategies whenever the detection performance satisfies submodularity, a natural diminishing returns property, for any fixed adversarial scenario. Our approach combines techniques from game theory with submodular optimization. The RSense algorithm applies to settings where the goal is to manage a deployed sensor network or to coordinate mobile sensing resources (such as unmanned aerial vehicles). We evaluate our algorithms on two real-world sensing problems.

We propose a new additive decomposition of probability tables that preserves equivalence of the joint distribution while reducing the size of potentials, without extra variables. We formulate the Most Probable Explanation (MPE) problem in belief networks as a Weighted Constraint Satisfaction Problem (WCSP). Our pairwise decomposition allows to replace a cost function with smaller-arity functions. The resulting pairwise decomposed WCSP is then easier to solve using state-of-the-art WCSP techniques. Although testing pairwise decomposition is equivalent to testing pairwise independence in the original belief network, we show how to efficiently test and enforce it, even in the presence of hard constraints. Furthermore, we infer additional information from the resulting nonbinary cost functions by projecting and subtracting them on binary functions. We observed huge improvements by preprocessing with pairwise decomposition and project&subtract compared to the current state-of-the-art solvers on two difficult sets of benchmark.

This paper is devoted to sequential decision making under uncertainty, in the multi-prior framework of Gilboa and Schmeidler [1989]. In this setting, a set of probability measures (priors) is defined instead of a single one, and the decision maker selects a strategy that maximizes the minimum possible value of expected utility over this set of priors. We are interested here in the resolute choice approach, where one initially commits to a complete strategy and never deviates from it later. Given a decision tree representation with multiple priors, we study the problem of determining an optimal strategy from the root according to min expected utility. We prove the intractability of evaluating a strategy in the general case. We then identify different properties of a decision tree that enable to design dedicated resolution procedures. Finally, experimental results are presented that evaluate these procedures.

We describe a generative Bayesian model for action understanding in which inverse-forward internal model pairs are considered "hypotheses" of plausible action goals that are explored in parallel via an approximate inference mechanism based on sequential Monte Carlo methods. The reenactment of internal model pairs can be considered a form of motor simulation, which supports both perceptual prediction and action understanding at the goal level. However, this procedure is generally considered to be computationally inefficient. We present a model that dynamically reallocates computational resources to more accurate internal models depending on both the available prior information and the prediction error of the inverse-forward models, and which leads to successful action recognition. We present experimental results that test the robustness and efficiency of our model in real-world scenarios.

This paper considers inference from multinomial data and addresses the problem of choosing the strength of the Dirichlet prior under a mean-squared error criterion. We compare the Maximum Likelihood Estimator (MLE) and the most commonly used Bayesian estimators obtained by assuming a prior Dirichlet distribution with non-informative prior parameters, that is, the parameters of the Dirichlet are equal and altogether sum up to the so called strength of the prior. Under this criterion, MLE becomes more preferable than the Bayesian estimators at the increase of the number of categories k of the multinomial, because non-informative Bayesian estimators induce a region where they are dominant that quickly shrinks with the increase of k. This can be avoided if the strength of the prior is not kept constant but decreased with the number of categories. We argue that the strength should decrease at least k times faster than usual estimators do.

Kalman Filtering is a computational tool with widespread applications in robotics, financial and weather forecasting, environmental engineering and defense. Given observation and state transition models, the Kalman Filter (KF) recursively estimates the state variables of a dynamic system. However, the KF requires a cubic time matrix inversion operation at every timestep which prevents its application in domains with large numbers of state variables. We propose Relational Gaussian Models to represent and model dynamic systems with large numbers of variables efficiently. Furthermore, we devise an exact lifted Kalman Filtering algorithm which takes only linear time in the number of random variables at every timestep. We prove that our algorithm takes linear time in the number of state variables even when individual observations apply to each variable. To our knowledge, this is the first lifted (linear time) algorithm for filtering with continuous dynamic relational models.

Activity recognition aims to discover one or more users’ actions and goals based on sensor readings. In the real world, a single user’s data are often insufficient for training an activity recognition model due to the data sparsity problem. This is especially true when we are interested in obtaining a personalized model. In this paper, we study how to collaboratively use different users’ sensor data to train a model that can provide personalized activity recognition for each user. We propose a user-dependent aspect model for this collaborative activity recognition task. Our model introduces user aspect variables to capture the user grouping information, so that a target user can also benefit from her similar users in the same group to train the recognition model. In this way, we can greatly reduce the need for much valuable and expensive labeled data required in training the recognition model for each user. Our model is also capable of incorporating time information and handling new user in activity recognition. We evaluate our model on a real-world WiFi data set obtained from an indoor environment, and show that the proposed model can outperform several state-of-art baseline algorithms.

We focus on recovering the 2D Euclidean structure in one view from the projections of N parallel conics in this paper. This work denotes that the conic dual to the absolute points is the general form of the conic dual to the circular points, but it does not encode the Euclidean structure. Therefore, we have to recover the circular point-envelope to find out some useful information about the Euclidean structure, which relies on the fact that the line at infinity and the symmetric axis can be recovered. We provide a solution to recover the two lines and deduce the constraints for recovering the conic dual to the circular points, then apply them on the camera calibration. Our work relaxes the problem conditions and gives a more general framework than the past. Experiments with simulated and real data are carried out to show the validity of the proposed algorithm. Especially, our method is applied in the endoscope operation to calibrate the camera for tracking the surgical tools, that is the main interest-point we pay attention to.

The variability of human behavior during plan execution poses a difficult challenge for human-robot teams. In this paper, we use the concepts of theory of mind to enable robots to account for two sources of human variability during team operation. When faced with an unexpected action by a human teammate, a robot uses a simulation analysis of different hypothetical cognitive models of the human to identify the most likely cause for the human's behavior. This allows the cognitive robot to account for variances due to both different knowledge and beliefs about the world, as well as different possible paths the human could take with a given set of knowledge and beliefs. An experiment showed that cognitive robots equipped with this functionality are viewed as both more natural and intelligent teammates, compared to both robots who either say nothing when presented with human variability, and robots who simply point out any discrepancies between the human's expected, and actual, behavior. Overall, this analysis leads to an effective, general approach for determining what thought process is leading to a human's actions.