Lately, Deep Learning is gaining huge popularity due to its supremacy in terms of accuracy when it comes to very complex problems. It proved efficiency in NLP and was widely adopted by many problems to address them opening new doors for more meaningful and accurate modeling approaches. While many problems in NLP involve text syntheses such as text generation and multi-document summarization, text quality measures became a core requirement, and modeling them is an active problem. Of these measures, the problem of text coherence is key and needs special handling. Text coherence, which means the degree of the logical consistency of text, is a problem that dates back to the 1980s, where several models were suggested.

Extending the capabilities of robotics to real-world complex, unstructured environments requires the need of developing better perception systems while maintaining low sample complexity. When dealing with high-dimensional state spaces, current methods are either model-free or model-based based on reconstruction objectives. The sample inefficiency of the former constitutes a major barrier for applying them to the real-world. The later, while they present low sample complexity, they learn latent spaces that need to reconstruct every single detail of the scene. In real environments, the task typically just represents a small fraction of the scene. Reconstruction objectives suffer in such scenarios as they capture all the unnecessary components. In this work, we present MIRO, an information theoretic representational learning algorithm for model-based reinforcement learning. We design a latent space that maximizes the mutual information with the future information while being able to capture all the information needed for planning. We show that our approach is more robust than reconstruction objectives in the presence of distractors and cluttered scenes

Probabilistic graphical models have been successfully applied in a lot of different fields, e.g., medical diagnosis and bio-statistics. Multiple specific extensions have been developed to handle, e.g., time-series data or Gaussian distributed random variables. In the case that handles both Gaussian variables and time-series data, downsides are that the models still have a discrete time-scale, evidence needs to be propagated through the graph and the conditional relationships between the variables are bound to be linear. This paper converts two probabilistic graphical models (the Markov chain and the hidden Markov model) into Gaussian processes by constructing covariance and mean functions, that encode the characteristics of the probabilistic graphical models. Our developed Gaussian process based formalism has the advantage of supporting a continuous time scale, direct inference from any time point to the other without propagation of evidence and flexibility to modify the covariance function if needed.

The field of Human Activity Recognition (HAR) focuses on obtaining and analysing data captured from monitoring devices (e.g. sensors). There is a wide range of applications within the field; for instance, assisted living, security surveillance, and intelligent transportation. In HAR, the development of Activity Recognition models is dependent upon the data captured by these devices and the methods used to analyse them, which directly affect performance metrics. In this work, we address the issue of accurately recognising human activities using different Machine Learning (ML) techniques. We propose a new feature representation based on consecutive occurring observations and compare it against previously used feature representations using a wide range of classification methods. Experimental results demonstrate that techniques based on the proposed representation outperform the baselines and a better accuracy was achieved for both highly and less frequent actions. We also investigate how the addition of further features and their pre-processing techniques affect performance results leading to state-of-the-art accuracy on a Human Activity Recognition dataset.

Healthcare professionals have long envisioned using the enormous processing powers of computers to discover new facts and medical knowledge locked inside electronic health records. These vast medical archives contain time-resolved information about medical visits, tests and procedures, as well as outcomes, which together form individual patient journeys. By assessing the similarities among these journeys, it is possible to uncover clusters of common disease trajectories with shared health outcomes. The assignment of patient journeys to specific clusters may in turn serve as the basis for personalized outcome prediction and treatment selection. This procedure is a non-trivial computational problem, as it requires the comparison of patient data with multi-dimensional and multi-modal features that are captured at different times and resolutions. In this review, we provide a comprehensive overview of the tools and methods that are used in patient similarity analysis with longitudinal data and discuss its potential for improving clinical decision making.

The debate between the optimal way of allocating societal surplus (i.e. products and services) has been raging, in one form or another, practically forever; following the collapse of the Soviet Union in 1991, the market became the only legitimate form of organisation -- there was no other alternative. Working within the tradition of Marx, Leontief, Kantorovich, Beer and Cockshott, we propose what we deem an automated planning system that aims to operate on unit level (e.g., factories and citizens), rather than on aggregate demand and sectors. We explain why it is both a viable and desirable alternative to current market conditions and position our solution within current societal structures. Our experiments show that it would be trivial to plan for up to 50K industrial goods and 5K final goods in commodity hardware.

Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the last decade. With rising demands on agent AI complexity, game programmers found that the Finite State Machines (FSM) that they used scaled poorly and were difficult to extend, adapt and reuse. In BTs, the state transition logic is not dispersed across the individual states, but organized in a hierarchical tree structure, with the states as leaves. This has a significant effect on modularity, which in turn simplifies both synthesis and analysis by humans and algorithms alike. These advantages are needed not only in game AI design, but also in robotics, as is evident from the research being done. In this paper we present a comprehensive survey of the topic of BTs in Artificial Intelligence and Robotic applications. The existing literature is described and categorized based on methods, application areas and contributions, and the paper is concluded with a list of open research challenges.

Neurons in the brain communicate with each other through discrete action spikes as opposed to continuous signal transmission in artificial neural networks. Therefore, the traditional techniques for optimization of parameters in neural networks which rely on the assumption of differentiability of activation functions are no longer applicable to modeling the learning processes in the brain. In this project, we propose biologically-plausible alternatives to backpropagation to facilitate the training of spiking neural networks. We primarily focus on investigating the candidacy of reinforcement learning (RL) rules in solving the spatial and temporal credit assignment problems to enable decision-making in complex tasks. In one approach, we consider each neuron in a multi-layer neural network as an independent RL agent forming a different representation of the feature space while the network as a whole forms the representation of the complex policy to solve the task at hand. In other approach, we apply the reparameterization trick to enable differentiation through stochastic transformations in spiking neural networks. We compare and contrast the two approaches by applying them to traditional RL domains such as gridworld, cartpole and mountain car. Further we also suggest variations and enhancements to enable future research in this area.

The control of nonlinear dynamical systems remains a major challenge for autonomous agents. Current trends in reinforcement learning (RL) focus on complex representations of dynamics and policies, which have yielded impressive results in solving a variety of hard control tasks. However, this new sophistication and extremely over-parameterized models have come with the cost of an overall reduction in our ability to interpret the resulting policies. In this paper, we take inspiration from the control community and apply the principles of hybrid switching systems in order to break down complex dynamics into simpler components. We exploit the rich representational power of probabilistic graphical models and derive an expectation-maximization (EM) algorithm for learning a sequence model to capture the temporal structure of the data and automatically decompose nonlinear dynamics into stochastic switching linear dynamical systems. Moreover, we show how this framework of switching models enables extracting hierarchies of Markovian and auto-regressive locally linear controllers from nonlinear experts in an imitation learning scenario.

Goal recognition is the problem of recognizing the intended goal of autonomous agents or humans by observing their behavior in an environment. Over the past years, most existing approaches to goal and plan recognition have been ignoring the need to deal with imperfections regarding the domain model that formalizes the environment where autonomous agents behave. In this thesis, we introduce the problem of goal recognition over imperfect domain models, and develop solution approaches that explicitly deal with two distinct types of imperfect domains models: (1) incomplete discrete domain models that have possible, rather than known, preconditions and effects in action descriptions; and (2) approximate continuous domain models, where the transition function is approximated from past observations and not well-defined. We develop novel goal recognition approaches over imperfect domains models by leveraging and adapting existing recognition approaches from the literature. Experiments and evaluation over these two types of imperfect domains models show that our novel goal recognition approaches are accurate in comparison to baseline approaches from the literature, at several levels of observability and imperfections.