We consider the problem of cooperative exploration where multiple robots need to cooperatively explore an unknown region as fast as possible. Multi-agent reinforcement learning (MARL) has recently become a trending paradigm for solving this challenge. However, existing MARL-based methods adopt action-making steps as the metric for exploration efficiency by assuming all the agents are acting in a fully synchronous manner: i.e., every single agent produces an action simultaneously and every single action is executed instantaneously at each time step. Despite its mathematical simplicity, such a synchronous MARL formulation can be problematic for real-world robotic applications. It can be typical that different robots may take slightly different wall-clock times to accomplish an atomic action or even periodically get lost due to hardware issues. Simply waiting for every robot being ready for the next action can be particularly time-inefficient. Therefore, we propose an asynchronous MARL solution, Asynchronous Coordination Explorer (ACE), to tackle this real-world challenge. We first extend a classical MARL algorithm, multi-agent PPO (MAPPO), to the asynchronous setting and additionally apply action-delay randomization to enforce the learned policy to generalize better to varying action delays in the real world. Moreover, each navigation agent is represented as a team-size-invariant CNN-based policy, which greatly benefits real-robot deployment by handling possible robot lost and allows bandwidth-efficient intra-agent communication through low-dimensional CNN features. We first validate our approach in a grid-based scenario. Both simulation and real-robot results show that ACE reduces over 10% actual exploration time compared with classical approaches. We also apply our framework to a high-fidelity visual-based environment, Habitat, achieving 28% improvement in exploration efficiency.

Interpretability of AI models allows for user safety checks to build trust in these models. In particular, decision trees (DTs) provide a global view on the learned model and clearly outlines the role of the features that are critical to classify a given data. However, interpretability is hindered if the DT is too large. To learn compact trees, a Reinforcement Learning (RL) framework has been recently proposed to explore the space of DTs. A given supervised classification task is modeled as a Markov decision problem (MDP) and then augmented with additional actions that gather information about the features, equivalent to building a DT. By appropriately penalizing these actions, the RL agent learns to optimally trade-off size and performance of a DT. However, to do so, this RL agent has to solve a partially observable MDP. The main contribution of this paper is to prove that it is sufficient to solve a fully observable problem to learn a DT optimizing the interpretability-performance trade-off. As such any planning or RL algorithm can be used. We demonstrate the effectiveness of this approach on a set of classical supervised classification datasets and compare our approach with other interpretability-performance optimizing methods.

The Markov decision process (MDP) provides a mathematical framework for modeling sequential decision-making problems, many of which are crucial to security and safety, such as autonomous driving and robot control. The rapid development of artificial intelligence research has created efficient methods for solving MDPs, such as deep neural networks (DNNs), reinforcement learning (RL), and imitation learning (IL). However, these popular models solving MDPs are neither thoroughly tested nor rigorously reliable. We present MDPFuzz, the first blackbox fuzz testing framework for models solving MDPs. MDPFuzz forms testing oracles by checking whether the target model enters abnormal and dangerous states. During fuzzing, MDPFuzz decides which mutated state to retain by measuring if it can reduce cumulative rewards or form a new state sequence. We design efficient techniques to quantify the "freshness" of a state sequence using Gaussian mixture models (GMMs) and dynamic expectation-maximization (DynEM). We also prioritize states with high potential of revealing crashes by estimating the local sensitivity of target models over states. MDPFuzz is evaluated on five state-of-the-art models for solving MDPs, including supervised DNN, RL, IL, and multi-agent RL. Our evaluation includes scenarios of autonomous driving, aircraft collision avoidance, and two games that are often used to benchmark RL. During a 12-hour run, we find over 80 crash-triggering state sequences on each model. We show inspiring findings that crash-triggering states, though they look normal, induce distinct neuron activation patterns compared with normal states. We further develop an abnormal behavior detector to harden all the evaluated models and repair them with the findings of MDPFuzz to significantly enhance their robustness without sacrificing accuracy.

We consider online reinforcement learning in Mean-Field Games (MFGs). Unlike traditional approaches, we alleviate the need for a mean-field oracle by developing an algorithm that approximates the Mean-Field Equilibrium (MFE) using the single sample path of the generic agent. We call this {\it Sandbox Learning}, as it can be used as a warm-start for any agent learning in a multi-agent non-cooperative setting. We adopt a two time-scale approach in which an online fixed-point recursion for the mean-field operates on a slower time-scale, in tandem with a control policy update on a faster time-scale for the generic agent. Given that the underlying Markov Decision Process (MDP) of the agent is communicating, we provide finite sample convergence guarantees in terms of convergence of the mean-field and control policy to the mean-field equilibrium. The sample complexity of the Sandbox learning algorithm is $\tilde{\mathcal{O}}(\epsilon^{-4})$ where $\epsilon$ is the MFE approximation error. This is similar to works which assume access to oracle. Finally, we empirically demonstrate the effectiveness of the sandbox learning algorithm in diverse scenarios, including those where the MDP does not necessarily have a single communicating class.

This work proposes a data driven learning model for the synthesis of keystroke biometric data. The proposed method is compared with two statistical approaches based on Universal and User-dependent models. These approaches are validated on the bot detection task, using the keystroke synthetic data to improve the training process of keystroke-based bot detection systems. Our experimental framework considers a dataset with 136 million keystroke events from 168 thousand subjects. We have analyzed the performance of the three synthesis approaches through qualitative and quantitative experiments. Different bot detectors are considered based on several supervised classifiers (Support Vector Machine, Random Forest, Gaussian Naive Bayes and a Long Short-Term Memory network) and a learning framework including human and synthetic samples. The experiments demonstrate the realism of the synthetic samples. The classification results suggest that in scenarios with large labeled data, these synthetic samples can be detected with high accuracy. However, in few-shot learning scenarios it represents an important challenge. Furthermore, these results show the great potential of the presented models.

We develop a latent variable model and an efficient spectral algorithm motivated by the recent emergence of very large data sets of chromatin marks from multiple human cell types. A natural model for chromatin data in one cell type is a Hidden Markov Model (HMM); we model the relationship between multiple cell types by connecting their hidden states by a fixed tree of known structure. The main challenge with learning parameters of such models is that iterative methods such as EM are very slow, while naive spectral methods result in time and space complexity exponential in the number of cell types. We exploit properties of the tree structure of the hidden states to provide spectral algorithms that are more computationally efficient for current biological datasets. We provide sample complexity bounds for our algorithm and evaluate it experimentally on biological data from nine human cell types. Finally, we show that beyond our specific model, some of our algorithmic ideas can be applied to other graphical models.

Variational inference is a scalable technique for approximate Bayesian inference. Deriving variational inference algorithms requires tedious model-specific calculations; this makes it difficult for non-experts to use.

Recently, there has been significant progress in understanding reinforcement learning in discounted infinite-horizon Markov decision processes (MDPs) by deriving tight sample complexity bounds. However, in many real-world applications, an interactive learning agent operates for a fixed or bounded period of time, for example tutoring students for exams or handling customer service requests. Such scenarios can often be better treated as episodic fixed-horizon MDPs, for which only looser bounds on the sample complexity exist. A natural notion of sample complexity in this setting is the number of episodes required to guarantee a certain performance with high probability (PAC guarantee).

Optimization of the link structure for PR is not a new topic. Apart from papers mentioned in Related work, there are also those not reviewed, including "PageRank Optimization by Edge Selection" by Csaji et al., "Maximizing PageRank with New Backlinks" by Olsen, "PageRank Optimization in Polynomial Time by Stochastic Shortest Path Reformulation" by Csaji et al. **The novelty** of the study is questionable. The probability of reaching the target state $\sigma$ can be viewed as the state's stationary probability for the graph, where the added edges are directed to the state $\sigma$ and the matrix of transition probabilities is raised to an appropriate power. This observation does not immediately reduce the problem of the paper to a known task, however, it may partially explain the similarity between the theoretical part and the works of Olsen, where the stationary probability is maximized. In particular, Section 4 resembles the work "Maximizing PageRank with New Backlinks" (not cited in the paper), where M. Olsen considered a reduction of a Markov chain optimization problem to the independent set problem, which is equivalent to the vertex cover problem. Theorems 5.1, 5.3 are reasonable, but very simple and resemble Lemmas 1,2 from [15].

Gestures that accompany speech are an essential part of natural and efficient embodied human communication. The automatic generation of such co-speech gestures is a long-standing problem in computer animation and is considered an enabling technology in film, games, virtual social spaces, and for interaction with social robots. The problem is made challenging by the idiosyncratic and non-periodic nature of human co-speech gesture motion, and by the great diversity of communicative functions that gestures encompass. Gesture generation has seen surging interest recently, owing to the emergence of more and larger datasets of human gesture motion, combined with strides in deep-learning-based generative models, that benefit from the growing availability of data. This review article summarizes co-speech gesture generation research, with a particular focus on deep generative models. First, we articulate the theory describing human gesticulation and how it complements speech. Next, we briefly discuss rule-based and classical statistical gesture synthesis, before delving into deep learning approaches. We employ the choice of input modalities as an organizing principle, examining systems that generate gestures from audio, text, and non-linguistic input. We also chronicle the evolution of the related training data sets in terms of size, diversity, motion quality, and collection method. Finally, we identify key research challenges in gesture generation, including data availability and quality; producing human-like motion; grounding the gesture in the co-occurring speech in interaction with other speakers, and in the environment; performing gesture evaluation; and integration of gesture synthesis into applications. We highlight recent approaches to tackling the various key challenges, as well as the limitations of these approaches, and point toward areas of future development.