Sampling a probability distribution with an unknown normalization constant is a fundamental problem in computational science and engineering. This task may be cast as an optimization problem over all probability measures, and an initial distribution can be evolved to the desired minimizer dynamically via gradient flows. Mean-field models, whose law is governed by the gradient flow in the space of probability measures, may also be identified; particle approximations of these mean-field models form the basis of algorithms. The gradient flow approach is also the basis of algorithms for variational inference, in which the optimization is performed over a parameterized family of probability distributions such as Gaussians, and the underlying gradient flow is restricted to the parameterized family. By choosing different energy functionals and metrics for the gradient flow, different algorithms with different convergence properties arise. In this paper, we concentrate on the Kullback-Leibler divergence after showing that, up to scaling, it has the unique property that the gradient flows resulting from this choice of energy do not depend on the normalization constant. For the metrics, we focus on variants of the Fisher-Rao, Wasserstein, and Stein metrics; we introduce the affine invariance property for gradient flows, and their corresponding mean-field models, determine whether a given metric leads to affine invariance, and modify it to make it affine invariant if it does not. We study the resulting gradient flows in both probability density space and Gaussian space. The flow in the Gaussian space may be understood as a Gaussian approximation of the flow. We demonstrate that the Gaussian approximation based on the metric and through moment closure coincide, establish connections between them, and study their long-time convergence properties showing the advantages of affine invariance.

We tackle the problems of latent variables identification and ``out-of-support'' image generation in representation learning. We show that both are possible for a class of decoders that we call additive, which are reminiscent of decoders used for object-centric representation learning (OCRL) and well suited for images that can be decomposed as a sum of object-specific images. We provide conditions under which exactly solving the reconstruction problem using an additive decoder is guaranteed to identify the blocks of latent variables up to permutation and block-wise invertible transformations. This guarantee relies only on very weak assumptions about the distribution of the latent factors, which might present statistical dependencies and have an almost arbitrarily shaped support. Our result provides a new setting where nonlinear independent component analysis (ICA) is possible and adds to our theoretical understanding of OCRL methods. We also show theoretically that additive decoders can generate novel images by recombining observed factors of variations in novel ways, an ability we refer to as Cartesian-product extrapolation. We show empirically that additivity is crucial for both identifiability and extrapolation on simulated data.

Modern industrial facilities generate large volumes of raw sensor data during the production process. This data is used to monitor and control the processes and can be analyzed to detect and predict process abnormalities. Typically, the data has to be annotated by experts in order to be used in predictive modeling. However, manual annotation of large amounts of data can be difficult in industrial settings. In this paper, we propose SensorSCAN, a novel method for unsupervised fault detection and diagnosis, designed for industrial chemical process monitoring. We demonstrate our model's performance on two publicly available datasets of the Tennessee Eastman Process with various faults. The results show that our method significantly outperforms existing approaches (+0.2-0.3 TPR for a fixed FPR) and effectively detects most of the process faults without expert annotation. Moreover, we show that the model fine-tuned on a small fraction of labeled data nearly reaches the performance of a SOTA model trained on the full dataset. We also demonstrate that our method is suitable for real-world applications where the number of faults is not known in advance. The code is available at https://github.com/AIRI-Institute/sensorscan.

Assessing the environmental impact of the mineral extraction industry plays a critical role in understanding and mitigating the ecological consequences of extractive activities. This paper presents MineSegSAT, a model that presents a novel approach to predicting environmentally impacted areas of mineral extraction sites using the SegFormer deep learning segmentation architecture trained on Sentinel-2 data. The data was collected from non-overlapping regions over Western Canada in 2021 containing areas of land that have been environmentally impacted by mining activities that were identified from high-resolution satellite imagery in 2021. The SegFormer architecture, a state-of-the-art semantic segmentation framework, is employed to leverage its advanced spatial understanding capabilities for accurate land cover classification. We investigate the efficacy of loss functions including Dice, Tversky, and Lovasz loss respectively. The trained model was utilized for inference over the test region in the ensuing year to identify potential areas of expansion or contraction over these same periods. The Sentinel-2 data is made available on Amazon Web Services through a collaboration with Earth Daily Analytics which provides corrected and tiled analytics-ready data on the AWS platform. The model and ongoing API to access the data on AWS allow the creation of an automated tool to monitor the extent of disturbed areas surrounding known mining sites to ensure compliance with their environmental impact goals.

Community resilience is a complex and muti-faceted phenomenon that emerges from complex and nonlinear interactions among different socio-technical systems and their resilience properties. However, present studies on community resilience focus primarily on vulnerability assessment and utilize index-based approaches, with limited ability to capture heterogeneous features within community socio-technical systems and their nonlinear interactions in shaping robustness, redundancy, and resourcefulness components of resilience. To address this gap, this paper presents an integrated three-layer deep learning model for community resilience rating (called Resili-Net). Twelve measurable resilience features are specified and computed within community socio-technical systems (i.e., facilities, infrastructures, and society) related to three resilience components of robustness, redundancy, and resourcefulness. Using publicly accessible data from multiple metropolitan statistical areas in the United States, Resili-Net characterizes the resilience levels of spatial areas into five distinct levels. The interpretability of the model outcomes enables feature analysis for specifying the determinants of resilience in areas within each resilience level, allowing for the identification of specific resilience enhancement strategies. Changes in community resilience profiles under urban development patterns are further examined by changing the value of related socio-technical systems features. Accordingly, the outcomes provide novel perspectives for community resilience assessment by harnessing machine intelligence and heterogeneous urban big data.

We analyze the structure of the market for foundation models, i.e., large AI models such as those that power ChatGPT and that are adaptable to downstream uses, and we examine the implications for competition policy and regulation. We observe that the most capable models will have a tendency towards natural monopoly and may have potentially vast markets. This calls for a two-pronged regulatory response: (i) Antitrust authorities need to ensure the contestability of the market by tackling strategic behavior, in particular by ensuring that monopolies do not propagate vertically to downstream uses, and (ii) given the diminished potential for market discipline, there is a role for regulators to ensure that the most capable models meet sufficient quality standards (including safety, privacy, non-discrimination, reliability and interoperability standards) to maximally contribute to social welfare. Regulators should also ensure a level regulatory playing field between AI and non-AI applications in all sectors of the economy. For models that are behind the frontier, we expect competition to be quite intense, implying a more limited role for competition policy, although a role for regulation remains.

Self-driving vehicles (SDVs) must be rigorously tested on a wide range of scenarios to ensure safe deployment. The industry typically relies on closed-loop simulation to evaluate how the SDV interacts on a corpus of synthetic and real scenarios and verify it performs properly. However, they primarily only test the system's motion planning module, and only consider behavior variations. It is key to evaluate the full autonomy system in closed-loop, and to understand how variations in sensor data based on scene appearance, such as the shape of actors, affect system performance. In this paper, we propose a framework, Adv3D, that takes real world scenarios and performs closed-loop sensor simulation to evaluate autonomy performance, and finds vehicle shapes that make the scenario more challenging, resulting in autonomy failures and uncomfortable SDV maneuvers. Unlike prior works that add contrived adversarial shapes to vehicle roof-tops or roadside to harm perception only, we optimize a low-dimensional shape representation to modify the vehicle shape itself in a realistic manner to degrade autonomy performance (e.g., perception, prediction, and motion planning). Moreover, we find that the shape variations found with Adv3D optimized in closed-loop are much more effective than those in open-loop, demonstrating the importance of finding scene appearance variations that affect autonomy in the interactive setting.

Realistic traffic simulation is crucial for developing self-driving software in a safe and scalable manner prior to real-world deployment. Typically, imitation learning (IL) is used to learn human-like traffic agents directly from real-world observations collected offline, but without explicit specification of traffic rules, agents trained from IL alone frequently display unrealistic infractions like collisions and driving off the road. This problem is exacerbated in out-of-distribution and long-tail scenarios. On the other hand, reinforcement learning (RL) can train traffic agents to avoid infractions, but using RL alone results in unhuman-like driving behaviors. We propose Reinforcing Traffic Rules (RTR), a holistic closed-loop learning objective to match expert demonstrations under a traffic compliance constraint, which naturally gives rise to a joint IL + RL approach, obtaining the best of both worlds. Our method learns in closed-loop simulations of both nominal scenarios from real-world datasets as well as procedurally generated long-tail scenarios. Our experiments show that RTR learns more realistic and generalizable traffic simulation policies, achieving significantly better tradeoffs between human-like driving and traffic compliance in both nominal and long-tail scenarios. Moreover, when used as a data generation tool for training prediction models, our learned traffic policy leads to considerably improved downstream prediction metrics compared to baseline traffic agents. For more information, visit the project website: https://waabi.ai/rtr

Formal methods refer to rigorous, mathematical approaches to system development and have played a key role in establishing the correctness of safety-critical systems. The main building blocks of formal methods are models and specifications, which are analogous to behaviors and requirements in system design and give us the means to verify and synthesize system behaviors with formal guarantees. This monograph provides a survey of the current state of the art on applications of formal methods in the autonomous systems domain. We consider correct-by-construction synthesis under various formulations, including closed systems, reactive, and probabilistic settings. Beyond synthesizing systems in known environments, we address the concept of uncertainty and bound the behavior of systems that employ learning using formal methods. Further, we examine the synthesis of systems with monitoring, a mitigation technique for ensuring that once a system deviates from expected behavior, it knows a way of returning to normalcy. We also show how to overcome some limitations of formal methods themselves with learning. We conclude with future directions for formal methods in reinforcement learning, uncertainty, privacy, explainability of formal methods, and regulation and certification.

These applications have high, ever-growing requirements in terms of security, reliability and performance. Currently, the development of these applications is heavily dependent on cloud, the abundant resources of which are a necessity for the computationally intensive Artificial Intelligence (AI) methods. However, cloud-native processing requires transmitting data between the end users and the cloud, which increases the latency, burdens the core network and raises privacy concerns. Hence, several computing paradigms, such as edge and fog computing, Multi-access Edge Computing (MEC) and cloudlets (Ren et al. (2020)), have emerged to bring the computing and storage resources from the cloud to the edge, closer to the end users. Even though these paradigms have differences in their architectural considerations and driving forces, they all have the same essence: placing and using computational resources between the end user and the distant cloud in order to reduce latency and energy consumption, as well as increase security and privacy by keeping the application data local. Bringing the intelligent applications onto the edge between the end users and the cloud is not a simple task. Traditional AI is inherently centralized and resource consuming, while the edge is inherently distributed and limited in resources. Further, the edge nodes are highly heterogeneous in terms of their capabilities, while the edge environment as a whole is characterized by intermittent connectivity, distributed and non-IID data, as well as geographically distributed, opportunistic computing resources (Kokkonen et al. (2022)). Research on developing and adapting AI methods to the edge environment has been coined as AI on Edge (Lovén et al. (2019); Deng et al. (2020)), which is an active research area with an ample amount of research (Deng et al. (2020); Xu et al. (2021); Park et al. (2021)).