Artificial intelligence (AI) is the ability of a computer or computer-controlled robot to perform tasks commonly associated with intelligent beings. It is sometimes called'machine intelligence', since the intelligence is demonstrated by machines, and differs from natural intelligence, which is displayed by humans and other animals. The term is applied to systems endowed with the intellectual processes typical of humans, such as the ability to reason, discover meaning, generalise, or learn from past experience. The following topics are non-exhaustive examples of areas relevant to the theme of artificial intelligence. They can benefit from using integrated terrestrial and space-based technologies.

The rapid development of autonomous vehicles (AVs) holds vast potential for transportation systems through improved safety, efficiency, and access to mobility. However, due to numerous technical, political, and human factors challenges, new methodologies are needed to design vehicles and transportation systems for these positive outcomes. This article tackles important technical challenges arising from the partial adoption of autonomy (hence termed mixed autonomy, to involve both AVs and human-driven vehicles): partial control, partial observation, complex multi-vehicle interactions, and the sheer variety of traffic settings represented by real-world networks. To enable the study of the full diversity of traffic settings, we first propose to decompose traffic control tasks into modules, which may be configured and composed to create new control tasks of interest. These modules include salient aspects of traffic control tasks: networks, actors, control laws, metrics, initialization, and additional dynamics. Second, we study the potential of model-free deep Reinforcement Learning (RL) methods to address the complexity of traffic dynamics. The resulting modular learning framework is called Flow. Using Flow, we create and study a variety of mixed-autonomy settings, including single-lane, multi-lane, and intersection traffic. In all cases, the learned control law exceeds human driving performance (measured by system-level velocity) by at least 40% with only 5-10% adoption of AVs. In the case of partially-observed single-lane traffic, we show that a low-parameter neural network control law can eliminate commonly observed stop-and-go traffic. In particular, the control laws surpass all known model-based controllers, achieving near-optimal performance across a wide spectrum of vehicle densities (even with a memoryless control law) and generalizing to out-of-distribution vehicle densities.

This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows actuate the robotic arm and provide high compliance while enabling fast actuation. Switching valves are used for pressure control of the soft actuators. A norm-optimal iterative learning control scheme based on a linear model of the system is presented and applied in parallel with a feedback controller. The learning scheme is experimentally evaluated on an aggressive trajectory involving set point shifts of 60 degrees within 0.2 seconds. The effectiveness of the learning approach is demonstrated by a reduction of the root-mean-square tracking error from 13 degrees to less than 2 degrees after applying the learning scheme for less than 30 iterations.

We explore the hyperparameter space of reservoir computers used for forecasting of the chaotic Lorenz '63 attractor with Bayesian optimization. We use a new measure of reservoir performance, designed to emphasize learning the global climate of the forecasted system rather than short-term prediction. We find that optimizing over this measure more quickly excludes reservoirs that fail to reproduce the climate. The results of optimization are surprising: the optimized parameters often specify a reservoir network with very low connectivity. Inspired by this observation, we explore reservoir designs with even simpler structure, and find well-performing reservoirs that have zero spectral radius and no recurrence. These simple reservoirs provide counterexamples to widely used heuristics in the field, and may be useful for hardware implementations of reservoir computers.

Science needs to understand and predict how climate change--and the growing onslaught of hurricanes, fires, and floods it's bringing--affects tropical forests. Will the forests respond to the assault with shorter trees? Will they store less carbon, or support less tree and plant diversity and fewer wildlife species? To better understand the effects a changing climate will have on tropical forests, Maria Uriarte, Columbia University professor of ecology, evolution, and environmental biology, needs to analyze images of forests. These bird's-eye view images are the size of a postage stamp.

The paper presents new metrics to quantify and test for (i) the equality of distributions and (ii) the independence between two high-dimensional random vectors. We show that the energy distance based on the usual Euclidean distance cannot completely characterize the homogeneity of two high-dimensional distributions in the sense that it only detects the equality of means and the traces of covariance matrices in the high-dimensional setup. We propose a new class of metrics which inherits the desirable properties of the energy distance and maximum mean discrepancy/(generalized) distance covariance and the Hilbert-Schmidt Independence Criterion in the low-dimensional setting and is capable of detecting the homogeneity of/completely characterizing independence between the low-dimensional marginal distributions in the high dimensional setup. We further propose t-tests based on the new metrics to perform high-dimensional two-sample testing/independence testing and study their asymptotic behavior under both high dimension low sample size (HDLSS) and high dimension medium sample size (HDMSS) setups. The computational complexity of the t-tests only grows linearly with the dimension and thus is scalable to very high dimensional data. We demonstrate the superior power behavior of the proposed tests for homogeneity of distributions and independence via both simulated and real datasets.

The dependency of the generalization error of neural networks on model and dataset size is of critical importance both in practice and for understanding the theory of neural networks. Nevertheless, the functional form of this dependency remains elusive. In this work, we present a functional form which approximates well the generalization error in practice. Capitalizing on the successful concept of model scaling (e.g., width, depth), we are able to simultaneously construct such a form and specify the exact models which can attain it across model/data scales. Our construction follows insights obtained from observations conducted over a range of model/data scales, in various model types and datasets, in vision and language tasks. We show that the form both fits the observations well across scales, and provides accurate predictions from small- to large-scale models and data.

Accurate forward modeling is important for solving inverse problems. An inaccurate wave-equation simulation, as a forward operator, will offset the results obtained via inversion. In this work, we consider the case where we deal with incomplete physics. One proxy of incomplete physics is an inaccurate discretization of Laplacian in simulation of wave equation via finite-difference method. We exploit intrinsic one-to-one similarities between timestepping algorithm with Convolutional Neural Networks (CNNs), and propose to intersperse CNNs between low-fidelity timesteps. Augmenting neural networks with low-fidelity timestepping algorithms may allow us to take large timesteps while limiting the numerical dispersion artifacts. While simulating the wave-equation with low-fidelity timestepping algorithm, by correcting the wavefield several time during propagation, we hope to limit the numerical dispersion artifact introduced by a poor discretization of the Laplacian. As a proof of concept, we demonstrate this principle by correcting for numerical dispersion by keeping the velocity model fixed, and varying the source locations to generate training and testing pairs for our supervised learning algorithm.

In this paper, we develop an online method that leverages machine learning to obtain feasible solutions to the AC optimal power flow (OPF) problem with negligible optimality gaps on extremely fast timescales (e.g., milliseconds), bypassing solving an AC OPF altogether. This is motivated by the fact that as the power grid experiences increasing amounts of renewable power generation, controllable loads, and other inverter-interfaced devices, faster system dynamics and quicker fluctuations in the power supply are likely to occur. Currently, grid operators typically solve AC OPF every 15 minutes to determine economic generator settings while ensuring grid constraints are satisfied. Due to the computational challenges with solving this nonconvex problem, many efforts have focused on linearizing or approximating the problem in order to solve the AC OPF on faster timescales. However, many of these approximations can be fairly poor representations of the actual system state and still require solving an optimization problem, which can be time consuming for large networks. In this work, we leverage historical data to learn a mapping between the system loading and optimal generation values, enabling us to find near-optimal and feasible AC OPF solutions on extremely fast timescales without actually solving an optimization problem.

In the presence of non-admissible heuristics, A* and other best-first algorithms can be converted into anytime optimal algorithms over OR graphs, by simply continuing the search after the first solution is found. The same trick, however, does not work for best-first algorithms over AND/OR graphs, that must be able to expand leaf nodes of the explicit graph that are not necessarily part of the best partial solution. Anytime optimal variants of AO* must thus address an exploration-exploitation tradeoff: they cannot just "exploit", they must keep exploring as well. In this work, we develop one such variant of AO* and apply it to finite-horizon MDPs. This Anytime AO* algorithm eventually delivers an optimal policy while using non-admissible random heuristics that can be sampled, as when the heuristic is the cost of a base policy that can be sampled with rollouts. We then test Anytime AO* for action selection over large infinite-horizon MDPs that cannot be solved with existing off-line heuristic search and dynamic programming algorithms, and compare it with UCT. Introduction One of the natural approaches for selecting actions in very large state spaces is by performing a limited amount of lookahead. In the contexts of discounted MDPs, Kearns, Mansour, and Ng have shown that near to optimal actions can be selected by considering a sampled lookahead tree that is sufficiently sparse, whose size depends on the discount factor and the suboptimality bound but not on the number of problem states (Kearns, Mansour, and Ng 1999).