To track the target in a video, current visual trackers usually adopt greedy search for target object localization in each frame, that is, the candidate region with the maximum response score will be selected as the tracking result of each frame. However, we found that this may be not an optimal choice, especially when encountering challenging tracking scenarios such as heavy occlusion and fast motion. To address this issue, we propose to maintain multiple tracking trajectories and apply beam search strategy for visual tracking, so that the trajectory with fewer accumulated errors can be identified. Accordingly, this paper introduces a novel multi-agent reinforcement learning based beam search tracking strategy, termed BeamTracking. It is mainly inspired by the image captioning task, which takes an image as input and generates diverse descriptions using beam search algorithm. Accordingly, we formulate the tracking as a sample selection problem fulfilled by multiple parallel decision-making processes, each of which aims at picking out one sample as their tracking result in each frame. Each maintained trajectory is associated with an agent to perform the decision-making and determine what actions should be taken to update related information. When all the frames are processed, we select the trajectory with the maximum accumulated score as the tracking result. Extensive experiments on seven popular tracking benchmark datasets validated the effectiveness of the proposed algorithm.

Multi-user delay constrained scheduling is important in many real-world applications including wireless communication, live streaming, and cloud computing. Yet, it poses a critical challenge since the scheduler needs to make real-time decisions to guarantee the delay and resource constraints simultaneously without prior information of system dynamics, which can be time-varying and hard to estimate. Moreover, many practical scenarios suffer from partial observability issues, e.g., due to sensing noise or hidden correlation. To tackle these challenges, we propose a deep reinforcement learning (DRL) algorithm, named Recurrent Softmax Delayed Deep Double Deterministic Policy Gradient ($\mathtt{RSD4}$), which is a data-driven method based on a Partially Observed Markov Decision Process (POMDP) formulation. $\mathtt{RSD4}$ guarantees resource and delay constraints by Lagrangian dual and delay-sensitive queues, respectively. It also efficiently tackles partial observability with a memory mechanism enabled by the recurrent neural network (RNN) and introduces user-level decomposition and node-level merging to ensure scalability. Extensive experiments on simulated/real-world datasets demonstrate that $\mathtt{RSD4}$ is robust to system dynamics and partially observable environments, and achieves superior performances over existing DRL and non-DRL-based methods.

In this work, we study the trade-off between the reliability and the investment cost of an unmanned aerial system (UAS) consisting of a set of unmanned aerial vehicles (UAVs) carrying radio access nodes, called portable access points (PAPs)), deployed to serve a set of ground nodes (GNs). Using the proposed algorithm, a given geographical region is equivalently represented as a set of circular regions, where each circle represents the coverage region of a PAP. Then, the steady-state availability of the UAS is analytically derived by modelling it as a continuous time birth-death Markov decision process (MDP). Numerical evaluations show that the investment cost to guarantee a given steady-state availability to a set of GNs can be reduced by considering the traffic demand and distribution of GNs.

Structural health monitoring (SHM) has been an active research area for the last three decades, and has accumulated a number of critical advances over that period, as can be seen in the literature. However, SHM is still facing challenges because of the paucity of damage-state data, operational and environmental fluctuations, repeatability issues, and changes in boundary conditions. These issues present as inconsistencies in the captured features and can have a huge impact on the practical implementation, but more critically, on the generalisation of the technology. Population-based SHM has been designed to address some of these concerns by modelling and transferring missing information using data collected from groups of similar structures. In this work, vibration data were collected from four healthy, nominally-identical, full-scale composite helicopter blades. Manufacturing differences (e.g., slight differences in geometry and/or material properties), among the blades presented as variability in their structural dynamics, which can be very problematic for SHM based on machine learning from vibration data. This work aims to address this variability by defining a general model for the frequency response functions of the blades, called a form, using mixtures of Gaussian processes.

This article studies the estimation of latent community memberships from pairwise interactions in a network of $N$ nodes, where the observed interactions can be of arbitrary type, including binary, categorical, and vector-valued, and not excluding even more general objects such as time series or spatial point patterns. As a generative model for such data, we introduce a stochastic block model with a general measurable interaction space $\mathcal S$, for which we derive information-theoretic bounds for the minimum achievable error rate. These bounds yield sharp criteria for the existence of consistent and strongly consistent estimators in terms of data sparsity, statistical similarity between intra- and inter-block interaction distributions, and the shape and size of the interaction space. The general framework makes it possible to study temporal and multiplex networks with $\mathcal S = \{0,1\}^T$, in settings where both $N \to \infty$ and $T \to \infty$, and the temporal interaction patterns are correlated over time. For temporal Markov interactions, we derive sharp consistency thresholds. We also present fast online estimation algorithms which fully utilise the non-binary nature of the observed data. Numerical experiments on synthetic and real data show that these algorithms rapidly produce accurate estimates even for very sparse data arrays.

One of the most fundamental problems in machine learning is to compare examples: Given a pair of objects we want to return a value which indicates degree of (dis)similarity. Similarity is often task specific, and pre-defined distances can perform poorly, leading to work in metric learning. However, being able to learn a similarity-sensitive distance function also presupposes access to a rich, discriminative representation for the objects at hand. In this dissertation we present contributions towards both ends. In the first part of the thesis, assuming good representations for the data, we present a formulation for metric learning that makes a more direct attempt to optimize for the k-NN accuracy as compared to prior work. We also present extensions of this formulation to metric learning for kNN regression, asymmetric similarity learning and discriminative learning of Hamming distance. In the second part, we consider a situation where we are on a limited computational budget i.e. optimizing over a space of possible metrics would be infeasible, but access to a label aware distance metric is still desirable. We present a simple, and computationally inexpensive approach for estimating a well motivated metric that relies only on gradient estimates, discussing theoretical and experimental results. In the final part, we address representational issues, considering group equivariant convolutional neural networks (GCNNs). Equivariance to symmetry transformations is explicitly encoded in GCNNs; a classical CNN being the simplest example. In particular, we present a SO(3)-equivariant neural network architecture for spherical data, that operates entirely in Fourier space, while also providing a formalism for the design of fully Fourier neural networks that are equivariant to the action of any continuous compact group.

We study the application of the factor graph framework for symbol detection on linear inter-symbol interference channels. Cyclic factor graphs have the potential to yield low-complexity symbol detectors, but are suboptimal if the ubiquitous sum-product algorithm is applied. In this paper, we present and evaluate strategies to improve the performance of cyclic factor graph-based symbol detection algorithms by means of neural enhancement. In particular, we apply neural belief propagation as an effective way to counteract the effect of cycles within the factor graph. We further propose the application and optimization of a linear preprocessor of the channel output. By modifying the observation model, the preprocessing can effectively change the underlying factor graph, thereby significantly improving the detection performance as well as reducing the complexity.

While sample efficiency is the main motive for use of Bayesian optimisation when black-box functions are expensive to evaluate, the standard approach based on type II maximum likelihood (ML-II) may fail and result in disappointing performance in small-sample trials. The paper provides three compelling reasons to adopt fully Bayesian optimisation (FBO) as an alternative. First, failures of ML-II are more commonplace than implied by the existing studies using the contrived settings. Second, FBO is more robust than ML-II, and the price of robustness is almost trivial. Third, FBO has become simple to implement and fast enough to be practical. The paper supports the argument using relevant experiments, which reflect the current practice regarding models, algorithms, and software platforms. Since the benefits seem to outweigh the costs, researchers should consider adopting FBO for their applications so that they can guard against potential failures that end up wasting precious research resources.

We consider communication in a fully cooperative multi-agent system, where the agents have partial observation of the environment and must act jointly to maximize the overall reward. We have a discrete-time queueing network where agents route packets to queues based only on the partial information of the current queue lengths. The queues have limited buffer capacity, so packet drops happen when they are sent to a full queue. In this work, we implemented a communication channel for the agents to share their information in order to reduce the packet drop rate. For efficient information sharing we use an attention-based communication model, called ATVC, to select informative messages from other agents. The agents then infer the state of queues using a combination of the variational auto-encoder, VAE, and product-of-experts, PoE, model. Ultimately, the agents learn what they need to communicate and with whom, instead of communicating all the time with everyone. We also show empirically that ATVC is able to infer the true state of the queues and leads to a policy which outperforms existing baselines.

The proliferation of artificial intelligence is increasingly dependent on model understanding. Understanding demands both an interpretation - a human reasoning about a model's behavior - and an explanation - a symbolic representation of the functioning of the model. Notwithstanding the imperative of transparency for safety, trust, and acceptance, the opacity of state-of-the-art reinforcement learning algorithms conceals the rudiments of their learned strategies. We have developed a policy regularization method that asserts the global intrinsic affinities of learned strategies. These affinities provide a means of reasoning about a policy's behavior, thus making it inherently interpretable. We have demonstrated our method in personalized prosperity management where individuals' spending behavior in time dictate their investment strategies, i.e. distinct spending personalities may have dissimilar associations with different investment classes. We now explain our model by reproducing the underlying prototypical policies with discretized Markov models. These global surrogates are symbolic representations of the prototypical policies.