Disk scrubbing is a process aimed at resolving read errors on disks by reading data from the disk. However, scrubbing the entire storage array at once can adversely impact system performance, particularly during periods of high input/output operations. Additionally, the continuous reading of data from disks when scrubbing can result in wear and tear, especially on larger capacity disks, due to the significant time and energy consumption involved. To address these issues, we propose a selective disk scrubbing method that enhances the overall reliability and power efficiency in data centers. Our method employs a Machine Learning model based on Mondrian Conformal prediction to identify specific disks for scrubbing, by proactively predicting the health status of each disk in the storage pool, forecasting n-days in advance, and using an open-source dataset. For disks predicted as non-healthy, we mark them for replacement without further action. For healthy drives, we create a set and quantify their relative health across the entire storage pool based on the predictor's confidence. This enables us to prioritize selective scrubbing for drives with established scrubbing frequency based on the scrub cycle. The method we propose provides an efficient and dependable solution for managing enterprise disk drives. By scrubbing just 22.7% of the total storage disks, we can achieve optimized energy consumption and reduce the carbon footprint of the data center.

Learning an effective global model on private and decentralized datasets has become an increasingly important challenge of machine learning when applied in practice. Existing distributed learning paradigms, such as Federated Learning, enable this via model aggregation which enforces a strong form of modeling homogeneity and synchronicity across clients. This is however not suitable to many practical scenarios. For example, in distributed sensing, heterogeneous sensors reading data from different views of the same phenomenon would need to use different models for different data modalities. Local learning therefore happens in isolation but inference requires merging the local models to achieve consensus. To enable consensus among local models, we propose a feature fusion approach that extracts local representations from local models and incorporates them into a global representation that improves the prediction performance. Achieving this requires addressing two non-trivial problems. First, we need to learn an alignment between similar feature components which are arbitrarily arranged across clients to enable representation aggregation. Second, we need to learn a consensus graph that captures the high-order interactions between local feature spaces and how to combine them to achieve a better prediction. This paper presents solutions to these problems and demonstrates them in real-world applications on time series data such as power grids and traffic networks.

Uncertainty quantification is a critical yet unsolved challenge for deep learning, especially for the time series imputation with irregularly sampled measurements. To tackle this problem, we propose a novel framework based on the principles of recurrent neural networks and neural stochastic differential equations for reconciling irregularly sampled measurements. We impute measurements at any arbitrary timescale and quantify the uncertainty in the imputations in a principled manner. Specifically, we derive analytical expressions for quantifying and propagating the epistemic and aleatoric uncertainty across time instants. Our experiments on the IEEE 37 bus test distribution system reveal that our framework can outperform state-of-the-art uncertainty quantification approaches for time-series data imputations.

The field of machine learning (ML) has witnessed significant advancements in recent years. However, many existing algorithms lack interpretability and struggle with high-dimensional and imbalanced data. This paper proposes SPINEX, a novel similarity-based interpretable neighbor exploration algorithm designed to address these limitations. This algorithm combines ensemble learning and feature interaction analysis to achieve accurate predictions and meaningful insights by quantifying each feature's contribution to predictions and identifying interactions between features, thereby enhancing the interpretability of the algorithm. To evaluate the performance of SPINEX, extensive experiments on 59 synthetic and real datasets were conducted for both regression and classification tasks. The results demonstrate that SPINEX achieves comparative performance and, in some scenarios, may outperform commonly adopted ML algorithms. The same findings demonstrate the effectiveness and competitiveness of SPINEX, making it a promising approach for various real-world applications.

In this paper we develop the randomized Sharded Bayesian Additive Regression Trees (SBT) model. We introduce a randomization auxiliary variable and a sharding tree to decide partitioning of data, and fit each partition component to a sub-model using Bayesian Additive Regression Tree (BART). By observing that the optimal design of a sharding tree can determine optimal sharding for sub-models on a product space, we introduce an intersection tree structure to completely specify both the sharding and modeling using only tree structures. In addition to experiments, we also derive the theoretical optimal weights for minimizing posterior contractions and prove the worst-case complexity of SBT.

Deep learning (DL) has emerged as a powerful subset of machine learning (ML) and artificial intelligence (AI), outperforming traditional ML methods, especially in handling unstructured and large datasets. Its impact spans across various domains, including speech recognition, healthcare, autonomous vehicles, cybersecurity, predictive analytics, and more. However, the complexity and dynamic nature of real-world problems present challenges in designing effective deep learning models. Consequently, several deep learning models have been developed to address different problems and applications. In this article, we conduct a comprehensive survey of various deep learning models, including Convolutional Neural Networks (CNNs), Recurrent Neural Networks (RNNs), Generative Models, Deep Reinforcement Learning (DRL), and Deep Transfer Learning. We examine the structure, applications, benefits, and limitations of each model. Furthermore, we perform an analysis using three publicly available datasets: IMDB, ARAS, and Fruit-360. We compare the performance of six renowned deep learning models: CNN, Simple RNN, Long Short-Term Memory (LSTM), Bidirectional LSTM, Gated Recurrent Unit (GRU), and Bidirectional GRU.

Climate change results in an increased probability of extreme weather events that put societies and businesses at risk on a global scale. Therefore, near real-time mapping of natural hazards is an emerging priority for the support of natural disaster relief, risk management, and informing governmental policy decisions. Recent methods to achieve near real-time mapping increasingly leverage deep learning (DL). However, DL-based approaches are designed for one specific task in a single geographic region based on specific frequency bands of satellite data. Therefore, DL models used to map specific natural hazards struggle with their generalization to other types of natural hazards in unseen regions. In this work, we propose a methodology to significantly improve the generalizability of DL natural hazards mappers based on pre-training on a suitable pre-task. Without access to any data from the target domain, we demonstrate this improved generalizability across four U-Net architectures for the segmentation of unseen natural hazards. Importantly, our method is invariant to geographic differences and differences in the type of frequency bands of satellite data. By leveraging characteristics of unlabeled images from the target domain that are publicly available, our approach is able to further improve the generalization behavior without fine-tuning. Thereby, our approach supports the development of foundation models for earth monitoring with the objective of directly segmenting unseen natural hazards across novel geographic regions given different sources of satellite imagery.

We propose a framework for the stability verification of Mixed-Integer Linear Programming (MILP) representable control policies. This framework compares a fixed candidate policy, which admits an efficient parameterization and can be evaluated at a low computational cost, against a fixed baseline policy, which is known to be stable but expensive to evaluate. We provide sufficient conditions for the closed-loop stability of the candidate policy in terms of the worst-case approximation error with respect to the baseline policy, and we show that these conditions can be checked by solving a Mixed-Integer Quadratic Program (MIQP). Additionally, we demonstrate that an outer and inner approximation of the stability region of the candidate policy can be computed by solving an MILP. The proposed framework is sufficiently general to accommodate a broad range of candidate policies including ReLU Neural Networks (NNs), optimal solution maps of parametric quadratic programs, and Model Predictive Control (MPC) policies. We also present an open-source toolbox in Python based on the proposed framework, which allows for the easy verification of custom NN architectures and MPC formulations. We showcase the flexibility and reliability of our framework in the context of a DC-DC power converter case study and investigate its computational complexity.

Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive policies guarantee fast response to environmental changes at the risk of suboptimal behavior. On the other hand, planning-based motion generation provides feasible trajectories, but the high computational cost may limit the control frequency and thus safety. To combine the benefits of reactive policies and planning, we propose a hierarchical motion generation method. Moreover, we adopt probabilistic inference methods to formalize the hierarchical model and stochastic optimization. We realize this approach as a weighted product of stochastic, reactive expert policies, where planning is used to adaptively compute the optimal weights over the task horizon. This stochastic optimization avoids local optima and proposes feasible reactive plans that find paths in cluttered and dense environments. Our extensive experimental study in planar navigation and 6DoF manipulation shows that our proposed hierarchical motion generation method outperforms both myopic reactive controllers and online re-planning methods.

We address the problem of learning the dynamics of an unknown non-parametric system linking a target and a feature time series. The feature time series is measured on a sparse and irregular grid, while we have access to only a few points of the target time series. Once learned, we can use these dynamics to predict values of the target from the previous values of the feature time series. We frame this task as learning the solution map of a controlled differential equation (CDE). By leveraging the rich theory of signatures, we are able to cast this non-linear problem as a high-dimensional linear regression. We provide an oracle bound on the prediction error which exhibits explicit dependencies on the individual-specific sampling schemes. Our theoretical results are illustrated by simulations which show that our method outperforms existing algorithms for recovering the full time series while being computationally cheap. We conclude by demonstrating its potential on real-world epidemiological data.