With the growing interest in large language models, the need for evaluating the quality of machine text compared to reference (typically human-generated) text has become focal attention. Most recent works focus either on task-specific evaluation metrics or study the properties of machine-generated text captured by the existing metrics. In this work, we propose a new evaluation scheme to model human judgments in 7 NLP tasks, based on the fine-grained mismatches between a pair of texts. Inspired by the recent efforts in several NLP tasks for fine-grained evaluation, we introduce a set of 13 mismatch error types such as spatial/geographic errors, entity errors, etc, to guide the model for better prediction of human judgments. We propose a neural framework for evaluating machine texts that uses these mismatch error types as auxiliary tasks and re-purposes the existing single-number evaluation metrics as additional scalar features, in addition to textual features extracted from the machine and reference texts. Our experiments reveal key insights about the existing metrics via the mismatch errors. We show that the mismatch errors between the sentence pairs on the held-out datasets from 7 NLP tasks align well with the human evaluation.

Autonomous exploration to build a map of an unknown environment is a fundamental robotics problem. However, the quality of the map directly influences the quality of subsequent robot operation. Instability in a simultaneous localization and mapping (SLAM) system can lead to poorquality maps and subsequent navigation failures during or after exploration. This becomes particularly noticeable in consumer robotics, where compute budget and limited field-of-view are very common. In this work, we propose (i) the concept of lighthouses: panoramic views with high visual information content that can be used to maintain the stability of the map locally in their neighborhoods and (ii) the final stabilization strategy for global pose graph stabilization. We call our novel exploration strategy SLAM-aware exploration (SAE) and evaluate its performance on real-world home environments.

The training process of generative adversarial networks (GANs) is unstable and does not converge globally. In this paper, we examine the stability of GANs from the perspective of control theory and propose a universal higher-order noise-based controller called Brownian Motion Controller (BMC). Starting with the prototypical case of Dirac-GANs, we design a BMC to retrieve precisely the same but reachable optimal equilibrium. We theoretically prove that the training process of DiracGANs-BMC is globally exponential stable and derive bounds on the rate of convergence. Then we extend our BMC to normal GANs and provide implementation instructions on GANs-BMC. Our experiments show that our GANs-BMC effectively stabilizes GANs' training under StyleGANv2-ada frameworks with a faster rate of convergence, a smaller range of oscillation, and better performance in terms of FID score.

This paper considers a single-trajectory system identification problem for linear systems under general nonlinear and/or time-varying policies with i.i.d. random excitation noises. The problem is motivated by safe learning-based control for constrained linear systems, where the safe policies during the learning process are usually nonlinear and time-varying for satisfying the state and input constraints. In this paper, we provide a non-asymptotic error bound for least square estimation when the data trajectory is generated by any nonlinear and/or time-varying policies as long as the generated state and action trajectories are bounded. This significantly generalizes the existing non-asymptotic guarantees for linear system identification, which usually consider i.i.d. random inputs or linear policies. Interestingly, our error bound is consistent with that for linear policies with respect to the dependence on the trajectory length, system dimensions, and excitation levels. Lastly, we demonstrate the applications of our results by safe learning with robust model predictive control and provide numerical analysis.

Predicting sea surface temperature (SST) within the El Ni\~no-Southern Oscillation (ENSO) region has been extensively studied due to its significant influence on global temperature and precipitation patterns. Statistical models such as linear inverse model (LIM), analog forecasting (AF), and recurrent neural network (RNN) have been widely used for ENSO prediction, offering flexibility and relatively low computational expense compared to large dynamic models. However, these models have limitations in capturing spatial patterns in SST variability or relying on linear dynamics. Here we present a modified Convolutional Gated Recurrent Unit (ConvGRU) network for the ENSO region spatio-temporal sequence prediction problem, along with the Ni\~no 3.4 index prediction as a down stream task. The proposed ConvGRU network, with an encoder-decoder sequence-to-sequence structure, takes historical SST maps of the Pacific region as input and generates future SST maps for subsequent months within the ENSO region. To evaluate the performance of the ConvGRU network, we trained and tested it using data from multiple large climate models. The results demonstrate that the ConvGRU network significantly improves the predictability of the Ni\~no 3.4 index compared to LIM, AF, and RNN. This improvement is evidenced by extended useful prediction range, higher Pearson correlation, and lower root-mean-square error. The proposed model holds promise for improving our understanding and predicting capabilities of the ENSO phenomenon and can be broadly applicable to other weather and climate prediction scenarios with spatial patterns and teleconnections.

We introduce variational sequential Optimal Experimental Design (vsOED), a new method for optimally designing a finite sequence of experiments under a Bayesian framework and with information-gain utilities. Specifically, we adopt a lower bound estimator for the expected utility through variational approximation to the Bayesian posteriors. The optimal design policy is solved numerically by simultaneously maximizing the variational lower bound and performing policy gradient updates. We demonstrate this general methodology for a range of OED problems targeting parameter inference, model discrimination, and goal-oriented prediction. These cases encompass explicit and implicit likelihoods, nuisance parameters, and physics-based partial differential equation models. Our vsOED results indicate substantially improved sample efficiency and reduced number of forward model simulations compared to previous sequential design algorithms.

Data analysis and monitoring on smart grids are jeopardized by attacks on cyber-physical systems. False data injection attack (FDIA) is one of the classes of those attacks that target the smart measurement devices by injecting malicious data. The employment of machine learning techniques in the detection and localization of FDIA is proven to provide effective results. Training of such models requires centralized processing of sensitive user data that may not be plausible in a practical scenario. By employing federated learning for the detection of FDIA attacks, it is possible to train a model for the detection and localization of the attacks while preserving the privacy of sensitive user data. However, federated learning introduces new problems such as the personalization of the detectors in each node. In this paper, we propose a federated learning-based scheme combined with a hybrid deep neural network architecture that exploits the local correlations between the connected power buses by employing graph neural networks as well as the temporal patterns in the data by using LSTM layers. The proposed mechanism offers flexible and efficient training of an FDIA detector in a distributed setup while preserving the privacy of the clients. We validate the proposed architecture by extensive simulations on the IEEE 57, 118, and 300 bus systems and real electricity load data.

Autonomous experimentation (AE) combines machine learning and research hardware automation in a closed loop, guiding subsequent experiments toward user goals. As applied to materials research, AE can accelerate materials exploration, reducing time and cost compared to traditional Edisonian studies. Additionally, integrating knowledge from diverse sources including theory, simulations, literature, and domain experts can boost AE performance. Domain experts may provide unique knowledge addressing tasks that are difficult to automate. Here, we present a set of methods for integrating human input into an autonomous materials exploration campaign for composition-structure phase mapping. The methods are demonstrated on x-ray diffraction data collected from a thin film ternary combinatorial library. At any point during the campaign, the user can choose to provide input by indicating regions-of-interest, likely phase regions, and likely phase boundaries based on their prior knowledge (e.g., knowledge of the phase map of a similar material system), along with quantifying their certainty. The human input is integrated by defining a set of probabilistic priors over the phase map. Algorithm output is a probabilistic distribution over potential phase maps, given the data, model, and human input. We demonstrate a significant improvement in phase mapping performance given appropriate human input.

Recently there has been a surge of interest in operations research (OR) and the machine learning (ML) community in combining prediction algorithms and optimization techniques to solve decision-making problems in the face of uncertainty. This gave rise to the field of contextual optimization, under which data-driven procedures are developed to prescribe actions to the decision-maker that make the best use of the most recently updated information. A large variety of models and methods have been presented in both OR and ML literature under a variety of names, including data-driven optimization, prescriptive optimization, predictive stochastic programming, policy optimization, (smart) predict/estimate-then-optimize, decision-focused learning, (task-based) end-to-end learning/forecasting/optimization, etc. Focusing on single and two-stage stochastic programming problems, this review article identifies three main frameworks for learning policies from data and discusses their strengths and limitations. We present the existing models and methods under a uniform notation and terminology and classify them according to the three main frameworks identified. Our objective with this survey is to both strengthen the general understanding of this active field of research and stimulate further theoretical and algorithmic advancements in integrating ML and stochastic programming.

The integration of renewable energy sources (RES) into modern power systems has become increasingly important due to climate change and macroeconomic and geopolitical instability. Among the RES, photovoltaic (PV) energy is rapidly emerging as one of the world's most promising. However, its widespread adoption poses challenges related to its inherently uncertain nature that can lead to imbalances in the electrical system. Therefore, accurate forecasting of PV production can help resolve these uncertainties and facilitate the integration of PV into modern power systems. Currently, PV forecasting methods can be divided into two main categories: physics-based and data-based strategies, with AI-based models providing state-of-the-art performance in PV power forecasting. However, while these AI-based models can capture complex patterns and relationships in the data, they ignore the underlying physical prior knowledge of the phenomenon. Therefore, we propose MATNet, a novel self-attention transformer-based architecture for multivariate multi-step day-ahead PV power generation forecasting. It consists of a hybrid approach that combines the AI paradigm with the prior physical knowledge of PV power generation of physics-based methods. The model is fed with historical PV data and historical and forecast weather data through a multi-level joint fusion approach. The effectiveness of the proposed model is evaluated using the Ausgrid benchmark dataset with different regression performance metrics. The results show that our proposed architecture significantly outperforms the current state-of-the-art methods with an RMSE equal to 0.0460. These findings demonstrate the potential of MATNet in improving forecasting accuracy and suggest that it could be a promising solution to facilitate the integration of PV energy into the power grid.