Conditional independence provides a way to understand causal relationships among the variables of interest. An underlying system may exhibit more fine-grained causal relationships especially between a variable and its parents, which will be called the local independence relationships. One of the most widely studied local relationships is Context-Specific Independence (CSI), which holds in a specific assignment of conditioned variables. However, its applicability is often limited since it does not allow continuous variables: data conditioned to the specific value of a continuous variable contains few instances, if not none, making it infeasible to test independence. In this work, we define and characterize the local independence relationship that holds in a specific set of joint assignments of parental variables, which we call context-set specific independence (CSSI). We then provide a canonical representation of CSSI and prove its fundamental properties. Based on our theoretical findings, we cast the problem of discovering multiple CSSI relationships in a system as finding a partition of the joint outcome space. Finally, we propose a novel method, coined neural contextual decomposition (NCD), which learns such partition by imposing each set to induce CSSI via modeling a conditional distribution. We empirically demonstrate that the proposed method successfully discovers the ground truth local independence relationships in both synthetic dataset and complex system reflecting the real-world physical dynamics.

Cooperative Adaptive Cruise Control (CACC) represents a quintessential control strategy for orchestrating vehicular platoon movement within Connected and Automated Vehicle (CAV) systems, significantly enhancing traffic efficiency and reducing energy consumption. In recent years, the data-driven methods, such as reinforcement learning (RL), have been employed to address this task due to their significant advantages in terms of efficiency and flexibility. However, the delay issue, which often arises in real-world CACC systems, is rarely taken into account by current RL-based approaches. To tackle this problem, we propose a Delay-Aware Multi-Agent Reinforcement Learning (DAMARL) framework aimed at achieving safe and stable control for CACC. We model the entire decision-making process using a Multi-Agent Delay-Aware Markov Decision Process (MADA-MDP) and develop a centralized training with decentralized execution (CTDE) MARL framework for distributed control of CACC platoons. An attention mechanism-integrated policy network is introduced to enhance the performance of CAV communication and decision-making. Additionally, a velocity optimization model-based action filter is incorporated to further ensure the stability of the platoon. Experimental results across various delay conditions and platoon sizes demonstrate that our approach consistently outperforms baseline methods in terms of platoon safety, stability and overall performance.

Human being and different species of animals having the skills to gather, transferring knowledge, processing, fine-tune and generating information throughout their lifetime. The ability of learning throughout their lifespan is referred as continuous learning which is using neurocognition mechanism. Consequently, in real world computational system of incremental learning autonomous agents also needs such continuous learning mechanism which provide retrieval of information and long-term memory consolidation. However, the main challenge in artificial intelligence is that the incremental learning of the autonomous agent when new data confronted. In such scenarios, the main concern is catastrophic forgetting(CF), i.e., while learning the sequentially, neural network underfits the old data when it confronted with new data. To tackle this CF problem many numerous studied have been proposed, however it is very difficult to compare their performance due to dissimilarity in their evaluation mechanism. Here we focus on the comparison of all algorithms which are having similar type of evaluation mechanism. Here we are comparing three types of incremental learning methods: (1) Exemplar based methods, (2) Memory based methods, and (3) Network based method. In this survey paper, methodology oriented study for catastrophic forgetting in incremental deep neural network is addressed. Furthermore, it contains the mathematical overview of impact-full methods which can be help researchers to deal with CF.

The exploration of high-speed movement by robots or road traffic agents is crucial for autonomous driving and navigation. Trajectory prediction at high speeds requires considering historical features and interactions with surrounding entities, a complexity not as pronounced in lower-speed environments. Prior methods have assessed the spatio-temporal dynamics of agents but often neglected intrinsic intent and uncertainty, thereby limiting their effectiveness. We present the Denoised Endpoint Distribution model for trajectory prediction, which distinctively models agents' spatio-temporal features alongside their intrinsic intentions and uncertainties. By employing Diffusion and Transformer models to focus on agent endpoints rather than entire trajectories, our approach significantly reduces model complexity and enhances performance through endpoint information. Our experiments on open datasets, coupled with comparison and ablation studies, demonstrate our model's efficacy and the importance of its components. This approach advances trajectory prediction in high-speed scenarios and lays groundwork for future developments.

Cooperative Multi-Agent Reinforcement Learning (MARL) necessitates seamless collaboration among agents, often represented by an underlying relation graph. Existing methods for learning this graph primarily focus on agent-pair relations, neglecting higher-order relationships. While several approaches attempt to extend cooperation modelling to encompass behaviour similarities within groups, they commonly fall short in concurrently learning the latent graph, thereby constraining the information exchange among partially observed agents. To overcome these limitations, we present a novel approach to infer the Group-Aware Coordination Graph (GACG), which is designed to capture both the cooperation between agent pairs based on current observations and group-level dependencies from behaviour patterns observed across trajectories. This graph is further used in graph convolution for information exchange between agents during decision-making. To further ensure behavioural consistency among agents within the same group, we introduce a group distance loss, which promotes group cohesion and encourages specialization between groups. Our evaluations, conducted on StarCraft II micromanagement tasks, demonstrate GACG's superior performance. An ablation study further provides experimental evidence of the effectiveness of each component of our method.

We propose a novel Bayesian approach for the adaptive and online estimation of the frequency distribution of a finite number of categories under the local differential privacy (LDP) framework. The proposed algorithm performs Bayesian parameter estimation via posterior sampling and adapts the randomization mechanism for LDP based on the obtained posterior samples. We propose a randomized mechanism for LDP which uses a subset of categories as an input and whose performance depends on the selected subset and the true frequency distribution. By using the posterior sample as an estimate of the frequency distribution, the algorithm performs a computationally tractable subset selection step to maximize the utility of the privatized response of the next user. We propose several utility functions related to well-known information metrics, such as (but not limited to) Fisher information matrix, total variation distance, and information entropy. We compare each of these utility metrics in terms of their computational complexity. We employ stochastic gradient Langevin dynamics for posterior sampling, a computationally efficient approximate Markov chain Monte Carlo method. We provide a theoretical analysis showing that (i) the posterior distribution targeted by the algorithm converges to the true parameter even for approximate posterior sampling, and (ii) the algorithm selects the optimal subset with high probability if posterior sampling is performed exactly. We also provide numerical results that empirically demonstrate the estimation accuracy of our algorithm where we compare it with nonadaptive and semi-adaptive approaches under experimental settings with various combinations of privacy parameters and population distribution parameters.

We introduce an Invertible Symbolic Regression (ISR) method. It is a machine learning technique that generates analytical relationships between inputs and outputs of a given dataset via invertible maps (or architectures). The proposed ISR method naturally combines the principles of Invertible Neural Networks (INNs) and Equation Learner (EQL), a neural network-based symbolic architecture for function learning. In particular, we transform the affine coupling blocks of INNs into a symbolic framework, resulting in an end-to-end differentiable symbolic invertible architecture that allows for efficient gradient-based learning. The proposed ISR framework also relies on sparsity promoting regularization, allowing the discovery of concise and interpretable invertible expressions. We show that ISR can serve as a (symbolic) normalizing flow for density estimation tasks. Furthermore, we highlight its practical applicability in solving inverse problems, including a benchmark inverse kinematics problem, and notably, a geoacoustic inversion problem in oceanography aimed at inferring posterior distributions of underlying seabed parameters from acoustic signals.

This paper presents an approach for energy-neutral Internet of Things (IoT) scenarios where the IoT devices (IoTDs) rely entirely on their energy harvesting capabilities to sustain operation. We use a Markov chain to represent the operation and transmission states of the IoTDs, a modulated Poisson process to model their energy harvesting process, and a discrete-time Markov chain to model their battery state. The aim is to efficiently manage the duty cycling of the IoTDs, so as to prolong their battery life and reduce instances of low-energy availability. We propose a duty-cycling management based on K- nearest neighbors, aiming to strike a trade-off between energy efficiency and detection accuracy. This is done by incorporating spatial and temporal correlations among IoTDs' activity, as well as their energy harvesting capabilities. We also allow the base station to wake up specific IoTDs if more information about an event is needed upon initial detection. Our proposed scheme shows significant improvements in energy savings and performance, with up to 11 times lower misdetection probability and 50\% lower energy consumption for high-density scenarios compared to a random duty cycling benchmark.

The Universal Similarity Metric (USM) has been demonstrated to give practically useful measures of "similarity" between sequence data. Here we have used the USM as an alternative distance metric in a K-Nearest Neighbours (K-NN) learner to allow effective pattern recognition of variable length sequence data. We compare this USM approach with the commonly used string-to-word vector approach. Our experiments have used two data sets of divergent domains: (1) spam email filtering and (2) protein subcellular localisation. Our results with this data reveal that the USM based K-NN learner (1) gives predictions with higher classification accuracy than those output by techniques that use the string to word vector approach, and (2) can be used to generate reliable probability forecasts.

In this research, we analyzed the suitability of each of the current state-of-the-art machine learning models for various cyberattack detection from the past 5 years with a major emphasis on the most recent works for comparative study to identify the knowledge gap where work is still needed to be done with regard to detection of each category of cyberattack. We also reviewed the suitability, effeciency and limitations of recent research on state-of-the-art classifiers and novel frameworks in the detection of differnet cyberattacks. Our result shows the need for; further research and exploration on machine learning approach for the detection of drive-by download attacks, an investigation into the mix performance of Naive Bayes to identify possible research direction on improvement to existing state-of-the-art Naive Bayes classifier, we also identify that current machine learning approach to the detection of SQLi attack cannot detect an already compromised database with SQLi attack signifying another possible future research direction.