Autonomous vehicles need to handle various traffic conditions and make safe and efficient decisions and maneuvers. However, on the one hand, a single optimization/sampling-based motion planner cannot efficiently generate safe trajectories in real time, particularly when there are many interactive vehicles near by. On the other hand, end-to-end learning methods cannot assure the safety of the outcomes. To address this challenge, we propose a hierarchical behavior planning framework with a set of low-level safe controllers and a high-level reinforcement learning algorithm (H-CtRL) as a coordinator for the low-level controllers. Safety is guaranteed by the low-level optimization/sampling-based controllers, while the high-level reinforcement learning algorithm makes H-CtRL an adaptive and efficient behavior planner. To train and test our proposed algorithm, we built a simulator that can reproduce traffic scenes using real-world datasets. The proposed H-CtRL is proved to be effective in various realistic simulation scenarios, with satisfying performance in terms of both safety and efficiency.

Deep learning architectures have been widely fostered throughout the last years, being used in a wide range of applications, such as object recognition, image reconstruction, and signal processing. Nevertheless, such models suffer from a common problem known as overfitting, which limits the network from predicting unseen data effectively. Regularization approaches arise in an attempt to address such a shortcoming. Among them, one can refer to the well-known Dropout, which tackles the problem by randomly shutting down a set of neurons and their connections according to a certain probability. Therefore, this approach does not consider any additional knowledge to decide which units should be disconnected. In this paper, we propose an energy-based Dropout (E-Dropout) that makes conscious decisions whether a neuron should be dropped or not. Specifically, we design this regularization method by correlating neurons and the model's energy as an importance level for further applying it to energy-based models, such as Restricted Boltzmann Machines (RBMs). The experimental results over several benchmark datasets revealed the proposed approach's suitability compared to the traditional Dropout and the standard RBMs.

The right to be forgotten has been legislated in many countries but the enforcement in machine learning would cause unbearable costs: companies may need to delete whole models trained from massive resources because of single individual requests. Existing works propose to remove the influence of the requested datums on the learned models via its influence function which is no longer naturally well-defined in Bayesian inference. To address this problem, this paper proposes a {\it Bayesian inference forgetting} (BIF) framework to extend the applicable domain to Bayesian inference. In the BIF framework, we develop forgetting algorithms for variational inference and Markov chain Monte Carlo. We show that our algorithms can provably remove the influence of single datums on the learned models. Theoretical analysis demonstrates that our algorithms have guaranteed generalizability. Experiments of Gaussian mixture models on the synthetic dataset and Bayesian neural networks on the Fashion-MNIST dataset verify the feasibility of our methods. The source code package is available at \url{https://github.com/fshp971/BIF}.

Is deep learning over-hyped? Where are the case studies that compare state-of-the-art deep learners with simpler options? In response to this gap in the literature, this paper offers one case study on using deep learning to predict issue close time in Bugzilla. We report here that a SIMPLE extension to a decades-old feedforward neural network works better than the more recent, and more elaborate, "long-short term memory" deep learning (which are currently popular in the SE literature). SIMPLE is a combination of a fast feedforward network and a hyper-parameter optimizer. SIMPLE runs in 3 seconds while the newer algorithms take 6 hours to terminate. Since it runs so fast, it is more amenable to being tuned by our optimizer. This paper reports results seen after running SIMPLE on issue close time data from 45,364 issues raised in Chromium, Eclipse, and Firefox projects from January 2010 to March 2016. In our experiments, this SIMPLEr tuning approach achieves significantly better predictors for issue close time than the more complex deep learner. These better and SIMPLEr results can be generated 2,700 times faster than if using a state-of-the-art deep learner. From this result, we make two conclusions. Firstly, for predicting issue close time, we would recommend SIMPLE over complex deep learners. Secondly, before analysts try very sophisticated (but very slow) algorithms, they might achieve better results, much sooner, by applying hyper-parameter optimization to simple (but very fast) algorithms.

The impact of user satisfaction in policy learning task-oriented dialogue systems has long been a subject of research interest. Most current models for estimating the user satisfaction either (i) treat out-of-context short-texts, such as product reviews, or (ii) rely on turn features instead of on distributed semantic representations. In this work we adopt deep neural networks that use distributed semantic representation learning for estimating the user satisfaction in conversations. We evaluate the impact of modelling context length in these networks. Moreover, we show that the proposed hierarchical network outperforms state-of-the-art quality estimators. Furthermore, we show that applying these networks to infer the reward function in a Partial Observable Markov Decision Process (POMDP) yields to a great improvement in the task success rate.

We present a scalable tree search planning algorithm for large multi-agent sequential decision problems that require dynamic collaboration. Teams of agents need to coordinate decisions in many domains, but naive approaches fail due to the exponential growth of the joint action space with the number of agents. We circumvent this complexity through an anytime approach that allows us to trade computation for approximation quality and also dynamically coordinate actions. Our algorithm comprises three elements: online planning with Monte Carlo Tree Search (MCTS), factored representations of local agent interactions with coordination graphs, and the iterative Max-Plus method for joint action selection. We evaluate our approach on the benchmark SysAdmin domain with static coordination graphs and achieve comparable performance with much lower computation cost than our MCTS baselines. We also introduce a multi-drone delivery domain with dynamic, i.e., state-dependent coordination graphs, and demonstrate how our approach scales to large problems on this domain that are intractable for other MCTS methods. We provide an open-source implementation of our algorithm at https://github.com/JuliaPOMDP/FactoredValueMCTS.jl.

Since its introduction in 2011, there have been over 4000 MOOCs on various subjects on the Web, serving over 35 million learners. MOOCs have shown the ability to democratize knowledge dissemination and bring the best education in the world to every learner. However, the disparate distances between participants, the size of the learner population, and the heterogeneity of the learners' backgrounds make it extremely difficult for instructors to interact with the learners in a timely manner, which adversely affects learning experience. To address the challenges, in this thesis, we propose a framework: educational content linking. By linking and organizing pieces of learning content scattered in various course materials into an easily accessible structure, we hypothesize that this framework can provide learners guidance and improve content navigation. Since most instruction and knowledge acquisition in MOOCs takes place when learners are surveying course materials, better content navigation may help learners find supporting information to resolve their confusion and thus improve learning outcome and experience. To support our conjecture, we present end-to-end studies to investigate our framework around two research questions: 1) can manually generated linking improve learning? 2) can learning content be generated with machine learning methods? For studying the first question, we built an interface that present learning materials and visualize the linking among them simultaneously. We found the interface enables users to search for desired course materials more efficiently, and retain more concepts more readily. For the second question, we propose an automatic content linking algorithm based on conditional random fields. We demonstrate that automatically generated linking can still lead to better learning, although the magnitude of the improvement over the unlinked interface is smaller.

Time-series forecasting has been an important research domain for so many years. Its applications include ECG predictions, sales forecasting, weather conditions, even COVID-19 spread predictions. These applications have motivated many researchers to figure out an optimal forecasting approach, but the modeling approach also changes as the application domain changes. This work has focused on reviewing different forecasting approaches for telemetry data predictions collected at data centers. Forecasting of telemetry data is a critical feature of network and data center management products. However, there are multiple options of forecasting approaches that range from a simple linear statistical model to high capacity deep learning architectures. In this paper, we attempted to summarize and evaluate the performance of well known time series forecasting techniques. We hope that this evaluation provides a comprehensive summary to innovate in forecasting approaches for telemetry data.

We investigate a learning decision support system for vehicle routing, where the routing engine learns implicit preferences that human planners have when manually creating route plans (or routings). The goal is to use these learned subjective preferences on top of the distance-based objective criterion in vehicle routing systems. This is an alternative to the practice of distinctively formulating a custom VRP for every company with its own routing requirements. Instead, we assume the presence of past vehicle routing solutions over similar sets of customers, and learn to make similar choices. The learning approach is based on the concept of learning a Markov model, which corresponds to a probabilistic transition matrix, rather than a deterministic distance matrix. This nevertheless allows us to use existing arc routing VRP software in creating the actual routings, and to optimize over both distances and preferences at the same time. For the learning, we explore different schemes to construct the probabilistic transition matrix that can co-evolve with changing preferences over time. Our results on a use-case with a small transportation company show that our method is able to generate results that are close to the manually created solutions, without needing to characterize all constraints and sub-objectives explicitly. Even in the case of changes in the customer sets, our method is able to find solutions that are closer to the actual routings than when using only distances, and hence, solutions that require fewer manual changes when transformed into practical routings.

Individual mobility is driven by demand for activities with diverse spatiotemporal patterns, but existing methods for mobility prediction often overlook the underlying activity patterns. To address this issue, this study develops an activity-based modeling framework for individual mobility prediction. Specifically, an input-output hidden Markov model (IOHMM) framework is proposed to simultaneously predict the (continuous) time and (discrete) location of an individual's next trip using transit smart card data. The prediction task can be transformed into predicting the hidden activity duration and end location. Based on a case study of Hong Kong's metro system, we show that the proposed model can achieve similar prediction performance as the state-of-the-art long short-term memory (LSTM) model. Unlike LSTM, the proposed IOHMM model can also be used to analyze hidden activity patterns, which provides meaningful behavioral interpretation for why an individual makes a certain trip. Therefore, the activity-based prediction framework offers a way to preserve the predictive power of advanced machine learning methods while enhancing our ability to generate insightful behavioral explanations, which is useful for enhancing situational awareness in user-centric transportation applications such as personalized traveler information.