To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for autonomous robots. Most state-of-the-art approaches treat object recognition and grasping as two separate problems, even though both use visual input. Furthermore, the knowledge of the robot is fixed after the training phase. In such cases, if the robot encounters new object categories, it must be retrained to incorporate new information without catastrophic forgetting. In order to resolve this problem, we propose a deep learning architecture with an augmented memory capacity to handle open-ended object recognition and grasping simultaneously. In particular, our approach takes multi-views of an object as input and jointly estimates pixel-wise grasp configuration as well as a deep scale- and rotation-invariant representation as output. The obtained representation is then used for open-ended object recognition through a meta-active learning technique. We demonstrate the ability of our approach to grasp never-seen-before objects and to rapidly learn new object categories using very few examples on-site in both simulation and real-world settings. A video of these experiments is available online at: https://youtu.be/n9SMpuEkOgk

This work addresses the problem of sharing partial information within social learning strategies. In traditional social learning, agents solve a distributed multiple hypothesis testing problem by performing two operations at each instant: first, agents incorporate information from private observations to form their beliefs over a set of hypotheses; second, agents combine the entirety of their beliefs locally among neighbors. Within a sufficiently informative environment and as long as the connectivity of the network allows information to diffuse across agents, these algorithms enable agents to learn the true hypothesis. Instead of sharing the entirety of their beliefs, this work considers the case in which agents will only share their beliefs regarding one hypothesis of interest, with the purpose of evaluating its validity, and draws conditions under which this policy does not affect truth learning. We propose two approaches for sharing partial information, depending on whether agents behave in a self-aware manner or not. The results show how different learning regimes arise, depending on the approach employed and on the inherent characteristics of the inference problem. Furthermore, the analysis interestingly points to the possibility of deceiving the network, as long as the evaluated hypothesis of interest is close enough to the truth.

Recently, model-based agents have achieved better performance than model-free ones using the same computational budget and training time in single-agent environments. However, due to the complexity of multi-agent systems, it is tough to learn the model of the environment. The significant compounding error may hinder the learning process when model-based methods are applied to multi-agent tasks. This paper proposes an implicit model-based multi-agent reinforcement learning method based on value decomposition methods. Under this method, agents can interact with the learned virtual environment and evaluate the current state value according to imagined future states in the latent space, making agents have the foresight. Our approach can be applied to any multi-agent value decomposition method. The experimental results show that our method improves the sample efficiency in different partially observable Markov decision process domains.

Time series anomaly detection has applications in a wide range of research fields and applications, including manufacturing and healthcare. The presence of anomalies can indicate novel or unexpected events, such as production faults, system defects, or heart fluttering, and is therefore of particular interest. The large size and complex patterns of time series have led researchers to develop specialised deep learning models for detecting anomalous patterns. This survey focuses on providing structured and comprehensive state-of-the-art time series anomaly detection models through the use of deep learning. It providing a taxonomy based on the factors that divide anomaly detection models into different categories. Aside from describing the basic anomaly detection technique for each category, the advantages and limitations are also discussed. Furthermore, this study includes examples of deep anomaly detection in time series across various application domains in recent years. It finally summarises open issues in research and challenges faced while adopting deep anomaly detection models.

This paper presents a surrogate modelling technique based on domain partitioning for Bayesian parameter inference of highly nonlinear engineering models. In order to alleviate the computational burden typically involved in Bayesian inference applications, a multielement Polynomial Chaos Expansion based Kriging metamodel is proposed. The developed surrogate model combines in a piecewise function an array of local Polynomial Chaos based Kriging metamodels constructed on a finite set of non-overlapping subdomains of the stochastic input space. Therewith, the presence of non-smoothness in the response of the forward model (e.g.~ nonlinearities and sparseness) can be reproduced by the proposed metamodel with minimum computational costs owing to its local adaptation capabilities. The model parameter inference is conducted through a Markov chain Monte Carlo approach comprising adaptive exploration and delayed rejection. The efficiency and accuracy of the proposed approach are validated through two case studies, including an analytical benchmark and a numerical case study. The latter relates the partial differential equation governing the hydrogen diffusion phenomenon of metallic materials in Thermal Desorption Spectroscopy tests.

For policymakers wishing to make evidence-based decisions, one of the challenges is how to combine the relevant information and evidence in a coherent and defensible manner in order to formulate and evaluate candidate policies. Policymakers often need to rely on experts with disparate fields of expertise when making policy choices in complex, multi-faceted, dynamic environments such as those dealing with ecosystem services. The pressures affecting the survival and pollination capabilities of honey bees (Apis mellifera), wild bees and other pollinators is well-documented, but incomplete. In order to estimate the potential effectiveness of various candidate policies to support pollination services, there is an urgent need to quantify the effect of various combinations of variables on the pollination ecosystem service, utilising available information, models and expert judgement. In this paper, we present a new application of the integrating decision support system methodology for combining inputs from multiple panels of experts to evaluate policies to support an abundant pollinator population.

A large number of network security breaches in IoT networks have demonstrated the unreliability of current Network Intrusion Detection Systems (NIDSs). Consequently, network interruptions and loss of sensitive data have occurred, which led to an active research area for improving NIDS technologies. In an analysis of related works, it was observed that most researchers aim to obtain better classification results by using a set of untried combinations of Feature Reduction (FR) and Machine Learning (ML) techniques on NIDS datasets. However, these datasets are different in feature sets, attack types, and network design. Therefore, this paper aims to discover whether these techniques can be generalised across various datasets. Six ML models are utilised: a Deep Feed Forward (DFF), Convolutional Neural Network (CNN), Recurrent Neural Network (RNN), Decision Tree (DT), Logistic Regression (LR), and Naive Bayes (NB). The accuracy of three Feature Extraction (FE) algorithms; Principal Component Analysis (PCA), Auto-encoder (AE), and Linear Discriminant Analysis (LDA), are evaluated using three benchmark datasets: UNSW-NB15, ToN-IoT and CSE-CIC-IDS2018. Although PCA and AE algorithms have been widely used, the determination of their optimal number of extracted dimensions has been overlooked. The results indicate that no clear FE method or ML model can achieve the best scores for all datasets. The optimal number of extracted dimensions has been identified for each dataset, and LDA degrades the performance of the ML models on two datasets. The variance is used to analyse the extracted dimensions of LDA and PCA. Finally, this paper concludes that the choice of datasets significantly alters the performance of the applied techniques. We believe that a universal (benchmark) feature set is needed to facilitate further advancement and progress of research in this field.

Two of the main principles underlying the life cycle of an artificial intelligence (AI) module in communication networks are adaptation and monitoring. Adaptation refers to the need to adjust the operation of an AI module depending on the current conditions; while monitoring requires measures of the reliability of an AI module's decisions. Classical frequentist learning methods for the design of AI modules fall short on both counts of adaptation and monitoring, catering to one-off training and providing overconfident decisions. This paper proposes a solution to address both challenges by integrating meta-learning with Bayesian learning. As a specific use case, the problems of demodulation and equalization over a fading channel based on the availability of few pilots are studied. Meta-learning processes pilot information from multiple frames in order to extract useful shared properties of effective demodulators across frames. The resulting trained demodulators are demonstrated, via experiments, to offer better calibrated soft decisions, at the computational cost of running an ensemble of networks at run time. The capacity to quantify uncertainty in the model parameter space is further leveraged by extending Bayesian meta-learning to an active setting. In it, the designer can select in a sequential fashion channel conditions under which to generate data for meta-learning from a channel simulator. Bayesian active meta-learning is seen in experiments to significantly reduce the number of frames required to obtain efficient adaptation procedure for new frames.

With the increased use of machine learning systems for decision making, questions about the fairness properties of such systems start to take center stage. Most existing work on algorithmic fairness assume complete observation of features at prediction time, as is the case for popular notions like statistical parity and equal opportunity. However, this is not sufficient for models that can make predictions with partial observation as we could miss patterns of bias and incorrectly certify a model to be fair. To address this, a recently introduced notion of fairness asks whether the model exhibits any discrimination pattern, in which an individual characterized by (partial) feature observations, receives vastly different decisions merely by disclosing one or more sensitive attributes such as gender and race. By explicitly accounting for partial observations, this provides a much more fine-grained notion of fairness. In this paper, we propose an algorithm to search for discrimination patterns in a general class of probabilistic models, namely probabilistic circuits. Previously, such algorithms were limited to naive Bayes classifiers which make strong independence assumptions; by contrast, probabilistic circuits provide a unifying framework for a wide range of tractable probabilistic models and can even be compiled from certain classes of Bayesian networks and probabilistic programs, making our method much more broadly applicable. Furthermore, for an unfair model, it may be useful to quickly find discrimination patterns and distill them for better interpretability. As such, we also propose a sampling-based approach to more efficiently mine discrimination patterns, and introduce new classes of patterns such as minimal, maximal, and Pareto optimal patterns that can effectively summarize exponentially many discrimination patterns

Recent work in sim2real has successfully enabled robots to act in physical environments by training in simulation with a diverse ''population'' of environments (i.e. domain randomization). In this work, we focus on enabling generalization in assistive tasks: tasks in which the robot is acting to assist a user (e.g. helping someone with motor impairments with bathing or with scratching an itch). Such tasks are particularly interesting relative to prior sim2real successes because the environment now contains a human who is also acting. This complicates the problem because the diversity of human users (instead of merely physical environment parameters) is more difficult to capture in a population, thus increasing the likelihood of encountering out-of-distribution (OOD) human policies at test time. We advocate that generalization to such OOD policies benefits from (1) learning a good latent representation for human policies that test-time humans can accurately be mapped to, and (2) making that representation adaptable with test-time interaction data, instead of relying on it to perfectly capture the space of human policies based on the simulated population only. We study how to best learn such a representation by evaluating on purposefully constructed OOD test policies. We find that sim2real methods that encode environment (or population) parameters and work well in tasks that robots do in isolation, do not work well in assistance. In assistance, it seems crucial to train the representation based on the history of interaction directly, because that is what the robot will have access to at test time. Further, training these representations to then predict human actions not only gives them better structure, but also enables them to be fine-tuned at test-time, when the robot observes the partner act. https://adaptive-caregiver.github.io.