We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides) with sufficient mission knowledge to create and displace a desired worker formation by operating on the local forces of the workers. The guides coordinate to shape the workers like smart particles by changing their interaction parameters. We study the approach with a large scale experiment in a physics based simulator with up to 5000 robots forming three different patterns. Our experiments reveal that the approach scales well with increasing robot numbers, and presents little pattern distortion. We evaluate the approach on a physical swarm of robots that use visual inertial odometry to compute their relative positions and obtain results that are comparable with simulation. This work lays the foundation for designing and coordinating configurable smart particles, with applications in smart materials and nanomedicine.

Deep learning models are susceptible to adversarial samples in white and black-box environments. Although previous studies have shown high attack success rates, coupling DNN models with interpretation models could offer a sense of security when a human expert is involved, who can identify whether a given sample is benign or malicious. However, in white-box environments, interpretable deep learning systems (IDLSes) have been shown to be vulnerable to malicious manipulations. In black-box settings, as access to the components of IDLSes is limited, it becomes more challenging for the adversary to fool the system. In this work, we propose a Query-efficient Score-based black-box attack against IDLSes, QuScore, which requires no knowledge of the target model and its coupled interpretation model. QuScore is based on transfer-based and score-based methods by employing an effective microbial genetic algorithm. Our method is designed to reduce the number of queries necessary to carry out successful attacks, resulting in a more efficient process. By continuously refining the adversarial samples created based on feedback scores from the IDLS, our approach effectively navigates the search space to identify perturbations that can fool the system. We evaluate the attack's effectiveness on four CNN models (Inception, ResNet, VGG, DenseNet) and two interpretation models (CAM, Grad), using both ImageNet and CIFAR datasets. Our results show that the proposed approach is query-efficient with a high attack success rate that can reach between 95% and 100% and transferability with an average success rate of 69% in the ImageNet and CIFAR datasets. Our attack method generates adversarial examples with attribution maps that resemble benign samples. We have also demonstrated that our attack is resilient against various preprocessing defense techniques and can easily be transferred to different DNN models.

Recent reinforcement learning (RL) methods have achieved success in various domains. However, multi-agent RL (MARL) remains a challenge in terms of decentralization, partial observability and scalability to many agents. Meanwhile, collective behavior requires resolution of the aforementioned challenges, and remains of importance to many state-of-the-art applications such as active matter physics, self-organizing systems, opinion dynamics, and biological or robotic swarms. Here, MARL via mean field control (MFC) offers a potential solution to scalability, but fails to consider decentralized and partially observable systems. In this paper, we enable decentralized behavior of agents under partial information by proposing novel models for decentralized partially observable MFC (Dec-POMFC), a broad class of problems with permutation-invariant agents allowing for reduction to tractable single-agent Markov decision processes (MDP) with single-agent RL solution. We provide rigorous theoretical results, including a dynamic programming principle, together with optimality guarantees for Dec-POMFC solutions applied to finite swarms of interest. Algorithmically, we propose Dec-POMFC-based policy gradient methods for MARL via centralized training and decentralized execution, together with policy gradient approximation guarantees. In addition, we improve upon state-of-the-art histogram-based MFC by kernel methods, which is of separate interest also for fully observable MFC. We evaluate numerically on representative collective behavior tasks such as adapted Kuramoto and Vicsek swarming models, being on par with state-of-the-art MARL. Overall, our framework takes a step towards RL-based engineering of artificial collective behavior via MFC.

Portfolio optimization has been an area that has attracted considerable attention from the financial research community. Designing a profitable portfolio is a challenging task involving precise forecasting of future stock returns and risks. This chapter presents a comparative study of three portfolio design approaches, the mean-variance portfolio (MVP), hierarchical risk parity (HRP)-based portfolio, and autoencoder-based portfolio. These three approaches to portfolio design are applied to the historical prices of stocks chosen from ten thematic sectors listed on the National Stock Exchange (NSE) of India. The portfolios are designed using the stock price data from January 1, 2018, to December 31, 2021, and their performances are tested on the out-of-sample data from January 1, 2022, to December 31, 2022. Extensive results are analyzed on the performance of the portfolios. It is observed that the performance of the MVP portfolio is the best on the out-of-sample data for the risk-adjusted returns. However, the autoencoder portfolios outperformed their counterparts on annual returns.

In this thesis, we explore the use of complex systems to study learning and adaptation in natural and artificial systems. The goal is to develop autonomous systems that can learn without supervision, develop on their own, and become increasingly complex over time. Complex systems are identified as a suitable framework for understanding these phenomena due to their ability to exhibit growth of complexity. Being able to build learning algorithms that require limited to no supervision would enable greater flexibility and adaptability in various applications. By understanding the fundamental principles of learning in complex systems, we hope to advance our ability to design and implement practical learning algorithms in the future. This thesis makes the following key contributions: the development of a general complexity metric that we apply to search for complex systems that exhibit growth of complexity, the introduction of a coarse-graining method to study computations in large-scale complex systems, and the development of a metric for learning efficiency as well as a benchmark dataset for evaluating the speed of learning algorithms. Our findings add substantially to our understanding of learning and adaptation in natural and artificial systems. Moreover, our approach contributes to a promising new direction for research in this area. We hope these findings will inspire the development of more effective and efficient learning algorithms in the future.

Energy storage solutions play an increasingly important role in modern infrastructure and lead-acid batteries are among the most commonly used in the rechargeable category. Due to normal degradation over time, correctly determining the battery's State of Health (SoH) and Remaining Useful Life (RUL) contributes to enhancing predictive maintenance, reliability, and longevity of battery systems. Besides improving the cost savings, correct estimation of the SoH can lead to reduced pollution though reuse of retired batteries. This paper presents a mapping study of the state-of-the-art in machine learning methods for estimating the SoH and RUL of lead-acid batteries. These two indicators are critical in the battery management systems of electric vehicles, renewable energy systems, and other applications that rely heavily on this battery technology. In this study, we analyzed the types of machine learning algorithms employed for estimating SoH and RUL, and evaluated their performance in terms of accuracy and inference time. Additionally, this mapping identifies and analyzes the most commonly used combinations of sensors in specific applications, such as vehicular batteries. The mapping concludes by highlighting potential gaps and opportunities for future research, which lays the foundation for further advancements in the field.

The automatic inspection of surface defects is an important task for quality control in the computers, communications, and consumer electronics (3C) industry. Conventional devices for defect inspection (viz. line-scan sensors) have a limited field of view, thus, a robot-aided defect inspection system needs to scan the object from multiple viewpoints. Optimally selecting the robot's viewpoints and planning a path is regarded as coverage path planning (CPP), a problem that enables inspecting the object's complete surface while reducing the scanning time and avoiding misdetection of defects. However, the development of CPP strategies for robotic line scanners has not been sufficiently studied by researchers. To fill this gap in the literature, in this paper, we present a new approach for robotic line scanners to detect surface defects of 3C free-form objects automatically. Our proposed solution consists of generating a local path by a new hybrid region segmentation method and an adaptive planning algorithm to ensure the coverage of the complete object surface. An optimization method for the global path sequence is developed to maximize the scanning efficiency. To verify our proposed methodology, we conduct detailed simulation-based and experimental studies on various free-form workpieces, and compare its performance with a state-of-the-art solution. The reported results demonstrate the feasibility and effectiveness of our approach.

Cognitive diagnosis plays a vital role in modern intelligent education platforms to reveal students' proficiency in knowledge concepts for subsequent adaptive tasks. However, due to the requirement of high model interpretability, existing manually designed cognitive diagnosis models hold too simple architectures to meet the demand of current intelligent education systems, where the bias of human design also limits the emergence of effective cognitive diagnosis models. In this paper, we propose to automatically design novel cognitive diagnosis models by evolutionary multi-objective neural architecture search (NAS). Specifically, we observe existing models can be represented by a general model handling three given types of inputs and thus first design an expressive search space for the NAS task in cognitive diagnosis. Then, we propose multi-objective genetic programming (MOGP) to explore the NAS task's search space by maximizing model performance and interpretability. In the MOGP design, each architecture is transformed into a tree architecture and encoded by a tree for easy optimization, and a tailored genetic operation based on four sub-genetic operations is devised to generate offspring effectively. Besides, an initialization strategy is also suggested to accelerate the convergence by evolving half of the population from existing models' variants. Experiments on two real-world datasets demonstrate that the cognitive diagnosis models searched by the proposed approach exhibit significantly better performance than existing models and also hold as good interpretability as human-designed models.

Based on Darwin's natural selection, we developed "machine scientists" to discover the laws of nature by learning from raw data. "Machine scientists" construct physical theories by applying a logic tree (state Decision Tree) and a value tree (observation Function Tree); the logical tree determines the state of the entity, and the value tree determines the absolute value between the two observations of the entity. A logic Tree and a value tree together can reconstruct an entity's trajectory and make predictions about its future outcomes. Our proposed algorithmic model has an emphasis on machine learning - where "machine scientists" builds up its experience by being rewarded or punished for each decision they make - eventually leading to rediscovering Newton's equation (classical physics) and the Born's rule (quantum mechanics).

The design and optimization of wireless networks have mostly been based on strong mathematical and theoretical modeling. Nonetheless, as novel applications emerge in the era of 5G and beyond, unprecedented levels of complexity will be encountered in the design and optimization of the network. As a result, the use of Artificial Intelligence (AI) is envisioned for wireless network design and optimization due to the flexibility and adaptability it offers in solving extremely complex problems in real-time. One of the main future applications of AI is enabling user-level personalization for numerous use cases. AI will revolutionize the way we interact with computers in which computers will be able to sense commands and emotions from humans in a non-intrusive manner, making the entire process transparent to users. By leveraging this capability, and accelerated by the advances in computing technologies, wireless networks can be redesigned to enable the personalization of network services to the user level in real-time. While current wireless networks are being optimized to achieve a predefined set of quality requirements, the personalization technology advocated in this article is supported by an intelligent big data-driven layer designed to micro-manage the scarce network resources. This layer provides the intelligence required to decide the necessary service quality that achieves the target satisfaction level for each user. Due to its dynamic and flexible design, personalized networks are expected to achieve unprecedented improvements in optimizing two contradicting objectives in wireless networks: saving resources and improving user satisfaction levels.