Unmanned Aerial Vehicles (UAVs) have recently rapidly grown to facilitate a wide range of innovative applications that can fundamentally change the way cyber-physical systems (CPSs) are designed. CPSs are a modern generation of systems with synergic cooperation between computational and physical potentials that can interact with humans through several new mechanisms. The main advantages of using UAVs in CPS application is their exceptional features, including their mobility, dynamism, effortless deployment, adaptive altitude, agility, adjustability, and effective appraisal of real-world functions anytime and anywhere. Furthermore, from the technology perspective, UAVs are predicted to be a vital element of the development of advanced CPSs. Therefore, in this survey, we aim to pinpoint the most fundamental and important design challenges of multi-UAV systems for CPS applications. We highlight key and versatile aspects that span the coverage and tracking of targets and infrastructure objects, energy-efficient navigation, and image analysis using machine learning for fine-grained CPS applications. Key prototypes and testbeds are also investigated to show how these practical technologies can facilitate CPS applications. We present and propose state-of-the-art algorithms to address design challenges with both quantitative and qualitative methods and map these challenges with important CPS applications to draw insightful conclusions on the challenges of each application. Finally, we summarize potential new directions and ideas that could shape future research in these areas.

Eligibility traces are an effective technique to accelerate reinforcement learning by smoothly assigning credit to recently visited states. However, their online implementation is incompatible with modern deep reinforcement learning algorithms, which rely heavily on i.i.d. training data and offline learning. We utilize an efficient, recursive method for computing {\lambda}-returns offline that can provide the benefits of eligibility traces to any value-estimation or actor-critic method. We demonstrate how our method can be combined with DQN, DRQN, and A3C to greatly enhance the learning speed of these algorithms when playing Atari 2600 games, even under partial observability. Our results indicate several-fold improvements to sample efficiency on Seaquest and Q*bert. We expect similar results for other algorithms and domains not considered here, including those with continuous actions.

State space models (SSMs) are a flexible approach to modeling complex time series. However, inference in SSMs is often computationally prohibitive for long time series. Stochastic gradient MCMC (SGMCMC) is a popular method for scalable Bayesian inference for large independent data. Unfortunately when applied to dependent data, such as in SSMs, SGMCMC's stochastic gradient estimates are biased as they break crucial temporal dependencies. To alleviate this, we propose stochastic gradient estimators that control this bias by performing additional computation in a `buffer' to reduce breaking dependencies. Furthermore, we derive error bounds for this bias and show a geometric decay under mild conditions. Using these estimators, we develop novel SGMCMC samplers for discrete, continuous and mixed-type SSMs. Our experiments on real and synthetic data demonstrate the effectiveness of our SGMCMC algorithms compared to batch MCMC, allowing us to scale inference to long time series with millions of time points.

Designing of touchless user interface is gaining popularity in various contexts. Using such interfaces, users can interact with electronic devices even when the hands are dirty or non-conductive. Also, user with partial physical disability can interact with electronic devices using such systems. Research in this direction has got major boost because of the emergence of low-cost sensors such as Leap Motion, Kinect or RealSense devices. In this paper, we propose a Leap Motion controller-based methodology to facilitate rendering of 2D and 3D shapes on display devices. The proposed method tracks finger movements while users perform natural gestures within the field of view of the sensor. In the next phase, trajectories are analyzed to extract extended Npen++ features in 3D. These features represent finger movements during the gestures and they are fed to unidirectional left-to-right Hidden Markov Model (HMM) for training. A one-to-one mapping between gestures and shapes is proposed. Finally, shapes corresponding to these gestures are rendered over the display using MuPad interface. We have created a dataset of 5400 samples recorded by 10 volunteers. Our dataset contains 18 geometric and 18 non-geometric shapes such as "circle", "rectangle", "flower", "cone", "sphere" etc. The proposed methodology achieves an accuracy of 92.87% when evaluated using 5-fold cross validation method. Our experiments revel that the extended 3D features perform better than existing 3D features in the context of shape representation and classification. The method can be used for developing useful HCI applications for smart display devices.

The classic objective in a reinforcement learning (RL) problem is to find a policy that minimizes, in expectation, a long-run objective such as the infinite-horizon discounted or long-run average cost. In many practical applications, optimizing the expected value alone is not sufficient, and it may be necessary to include a risk measure in the optimization process, either as the objective or as a constraint. Various risk measures have been proposed in the literature, e.g., mean-variance tradeoff, exponential utility, the percentile performance, value at risk, conditional value at risk, prospect theory and its later enhancement, cumulative prospect theory. In this article, we focus on the combination of risk criteria and reinforcement learning in a constrained optimization framework, i.e., a setting where the goal to find a policy that optimizes the usual objective of infinite-horizon discounted/average cost, while ensuring that an explicit risk constraint is satisfied. We introduce the risk-constrained RL framework, cover popular risk measures based on variance, conditional value-at-risk and cumulative prospect theory, and present a template for a risk-sensitive RL algorithm. We survey some of our recent work on this topic, covering problems encompassing discounted cost, average cost, and stochastic shortest path settings, together with the aforementioned risk measures in a constrained framework. This non-exhaustive survey is aimed at giving a flavor of the challenges involved in solving a risk-sensitive RL problem, and outlining some potential future research directions.

As the technology is advancing, audio recognition in machine learning is improved as well. Research in audio recognition has traditionally focused on speech. Living creatures (especially the small ones) are part of the whole ecosystem, monitoring as well as maintaining them are important tasks. Species such as animals and birds are tending to change their activities as well as their habitats due to the adverse effects on the environment or due to other natural or man-made calamities. For those in far deserted areas, we will not have any idea about their existence until we can continuously monitor them. Continuous monitoring will take a lot of hard work and labor. If there is no continuous monitoring, then there might be instances where endangered species may encounter dangerous situations. The best way to monitor those species are through audio recognition. Classifying sound can be a difficult task even for humans. Powerful audio signals and their processing techniques make it possible to detect audio of various species. There might be many ways wherein audio recognition can be done. We can train machines either by pre-recorded audio files or by recording them live and detecting them. The audio of species can be detected by removing all the background noise and echoes. Smallest sound is considered as a syllable. Extracting various syllables is the process we are focusing on which is known as audio recognition in terms of Machine Learning (ML).

Implicit probabilistic models are models defined naturally in terms of a sampling procedure and often induces a likelihood function that cannot be expressed explicitly. We develop a simple method for estimating parameters in implicit models that does not require knowledge of the form of the likelihood function or any derived quantities, but can be shown to be equivalent to maximizing likelihood under some conditions. Our result holds in the non-asymptotic parametric setting, where both the capacity of the model and the number of data examples are finite. We also demonstrate encouraging experimental results.

We propose an efficient multi-agent reinforcement learning approach to derive equilibrium strategies for multi-agents who are participating in a Markov game. Mainly, we are focused on obtaining decentralized policies for agents to maximize the performance of a collaborative task by all the agents, which is similar to solving a decentralized Markov decision process. We propose to use two different policy networks: (1) decentralized greedy policy network used to generate greedy action during training and execution period and (2) generative cooperative policy network (GCPN) used to generate action samples to make other agents improve their objectives during training period. We show that the samples generated by GCPN enable other agents to explore the policy space more effectively and favorably to reach a better policy in terms of achieving the collaborative tasks.

We propose a practical non-episodic PSRL algorithm that unlike recent state-of-the-art PSRL algorithms uses a deterministic, model-independent episode switching schedule. Our algorithm termed deterministic schedule PSRL (DS-PSRL) is efficient in terms of time, sample, and space complexity. We prove a Bayesian regret bound under mild assumptions. Our result is more generally applicable to multiple parameters and continuous state action problems. We compare our algorithm with state-of-the-art PSRL algorithms on standard discrete and continuous problems from the literature. Finally, we show how the assumptions of our algorithm satisfy a sensible parametrization for a large class of problems in sequential recommendations.

In this post, I will try to shed some light on the intuition about Restricted Boltzmann Machines and the way they work. This is supposed to be a simple explanation with a little bit of mathematics without going too deep into each concept or equation. So let's start with the origin of RBMs and delve deeper as we move forward. Boltzmann machines are stochastic and generative neural networks capable of learning internal representations and are able to represent and (given sufficient time) solve difficult combinatoric problems. They are named after the Boltzmann distribution (also known as Gibbs Distribution) which is an integral part of Statistical Mechanics and helps us to understand the impact of parameters like Entropy and Temperature on the Quantum States in Thermodynamics.