Recently, autonomous driving has made substantial progress in addressing the most common traffic scenarios like intersection navigation and lane changing. However, most of these successes have been limited to scenarios with well-defined traffic rules and require minimal negotiation with other vehicles. In this paper, we introduce a previously unconsidered, yet everyday, high-conflict driving scenario requiring negotiations between agents of equal rights and priorities. There exists no centralized control structure and we do not allow communications. Therefore, it is unknown if other drivers are willing to cooperate, and if so to what extent. We train policies to robustly negotiate with opposing vehicles of an unobservable degree of cooperativeness using multi-agent reinforcement learning (MARL). We propose Discrete Asymmetric Soft Actor-Critic (DASAC), a maximum-entropy off-policy MARL algorithm allowing for centralized training with decentralized execution. We show that using DASAC we are able to successfully negotiate and traverse the scenario considered over 99% of the time. Our agents are robust to an unknown timing of opponent decisions, an unobservable degree of cooperativeness of the opposing vehicle, and previously unencountered policies. Furthermore, they learn to exhibit human-like behaviors such as defensive driving, anticipating solution options and interpreting the behavior of other agents.

Offline (or batch) reinforcement learning (RL) algorithms seek to learn an optimal policy from a fixed dataset without active data collection. Based on the composition of the offline dataset, two main categories of methods are used: imitation learning which is suitable for expert datasets and vanilla offline RL which often requires uniform coverage datasets. From a practical standpoint, datasets often deviate from these two extremes and the exact data composition is usually unknown a priori. To bridge this gap, we present a new offline RL framework that smoothly interpolates between the two extremes of data composition, hence unifying imitation learning and vanilla offline RL. The new framework is centered around a weak version of the concentrability coefficient that measures the deviation from the behavior policy to the expert policy alone. Under this new framework, we further investigate the question on algorithm design: can one develop an algorithm that achieves a minimax optimal rate and also adapts to unknown data composition? To address this question, we consider a lower confidence bound (LCB) algorithm developed based on pessimism in the face of uncertainty in offline RL. We study finite-sample properties of LCB as well as information-theoretic limits in multi-armed bandits, contextual bandits, and Markov decision processes (MDPs). Our analysis reveals surprising facts about optimality rates. In particular, in all three settings, LCB achieves a faster rate of $1/N$ for nearly-expert datasets compared to the usual rate of $1/\sqrt{N}$ in offline RL, where $N$ is the number of samples in the batch dataset. In the case of contextual bandits with at least two contexts, we prove that LCB is adaptively optimal for the entire data composition range, achieving a smooth transition from imitation learning to offline RL. We further show that LCB is almost adaptively optimal in MDPs.

There has been a recent resurgence of interest in explainable artificial intelligence (XAI) that aims to reduce the opaqueness of AI-based decision-making systems, allowing humans to scrutinize and trust them. Prior work in this context has focused on the attribution of responsibility for an algorithm's decisions to its inputs wherein responsibility is typically approached as a purely associational concept. In this paper, we propose a principled causality-based approach for explaining black-box decision-making systems that addresses limitations of existing methods in XAI. At the core of our framework lies probabilistic contrastive counterfactuals, a concept that can be traced back to philosophical, cognitive, and social foundations of theories on how humans generate and select explanations. We show how such counterfactuals can quantify the direct and indirect influences of a variable on decisions made by an algorithm, and provide actionable recourse for individuals negatively affected by the algorithm's decision. Unlike prior work, our system, LEWIS: (1)can compute provably effective explanations and recourse at local, global and contextual levels (2)is designed to work with users with varying levels of background knowledge of the underlying causal model and (3)makes no assumptions about the internals of an algorithmic system except for the availability of its input-output data. We empirically evaluate LEWIS on three real-world datasets and show that it generates human-understandable explanations that improve upon state-of-the-art approaches in XAI, including the popular LIME and SHAP. Experiments on synthetic data further demonstrate the correctness of LEWIS's explanations and the scalability of its recourse algorithm.

We focus on the robustness of neural networks for classification. To permit a fair comparison between methods to achieve robustness, we first introduce a standard based on the mensuration of a classifier's degradation. Then, we propose natural perturbed training to robustify the network. Natural perturbations will be encountered in practice: the difference of two images of the same object may be approximated by an elastic deformation (when they have slightly different viewing angles), by occlusions (when they hide differently behind objects), or by saturation, Gaussian noise etc. Training some fraction of the epochs on random versions of such variations will help the classifier to learn better. We conduct extensive experiments on six datasets of varying sizes and granularity. Natural perturbed learning show better and much faster performance than adversarial training on clean, adversarial as well as natural perturbed images. It even improves general robustness on perturbations not seen during the training. For Cifar-10 and STL-10 natural perturbed training even improves the accuracy for clean data and reaches the state of the art performance. Ablation studies verify the effectiveness of natural perturbed training.

We present a simple algorithm for identifying and correcting real-valued noisy labels from a mixture of clean and corrupted samples using Gaussian process regression. A heteroscedastic noise model is employed, in which additive Gaussian noise terms with independent variances are associated with each and all of the observed labels. Thus, the method effectively applies a sample-specific Tikhonov regularization term, generalizing the uniform regularization prevalent in standard Gaussian process regression. Optimizing the noise model using maximum likelihood estimation leads to the containment of the GPR model's predictive error by the posterior standard deviation in leave-one-out cross-validation. A multiplicative update scheme is proposed for solving the maximum likelihood estimation problem under non-negative constraints. While we provide a proof of monotonic convergence for certain special cases, the multiplicative scheme has empirically demonstrated monotonic convergence behavior in virtually all our numerical experiments. We show that the presented method can pinpoint corrupted samples and lead to better regression models when trained on synthetic and real-world scientific data sets.

Most of existing outlier detection methods assume that the outlier factors (i.e., outlierness scoring measures) of data entities (e.g., feature values and data objects) are Independent and Identically Distributed (IID). This assumption does not hold in real-world applications where the outlierness of different entities is dependent on each other and/or taken from different probability distributions (non-IID). This may lead to the failure of detecting important outliers that are too subtle to be identified without considering the non-IID nature. The issue is even intensified in more challenging contexts, e.g., high-dimensional data with many noisy features. This work introduces a novel outlier detection framework and its two instances to identify outliers in categorical data by capturing non-IID outlier factors. Our approach first defines and incorporates distribution-sensitive outlier factors and their interdependence into a value-value graph-based representation. It then models an outlierness propagation process in the value graph to learn the outlierness of feature values. The learned value outlierness allows for either direct outlier detection or outlying feature selection. The graph representation and mining approach is employed here to well capture the rich non-IID characteristics. Our empirical results on 15 real-world data sets with different levels of data complexities show that (i) the proposed outlier detection methods significantly outperform five state-of-the-art methods at the 95%/99% confidence level, achieving 10%-28% AUC improvement on the 10 most complex data sets; and (ii) the proposed feature selection methods significantly outperform three competing methods in enabling subsequent outlier detection of two different existing detectors.

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved 2nd and 1st place, respectively. We also discuss CoSTAR's demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning; (iv) global motion planning and exploration behavior; (i) risk-aware mission planning; (vi) networking and decentralized reasoning; and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g. wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.

In this article, we discuss how to solve information-gathering problems expressed as rho-POMDPs, an extension of Partially Observable Markov Decision Processes (POMDPs) whose reward rho depends on the belief state. Point-based approaches used for solving POMDPs have been extended to solving rho-POMDPs as belief MDPs when its reward rho is convex in B or when it is Lipschitz-continuous. In the present paper, we build on the POMCP algorithm to propose a Monte Carlo Tree Search for rho-POMDPs, aiming for an efficient on-line planner which can be used for any rho function. Adaptations are required due to the belief-dependent rewards to (i) propagate more than one state at a time, and (ii) prevent biases in value estimates. An asymptotic convergence proof to epsilon-optimal values is given when rho is continuous. Experiments are conducted to analyze the algorithms at hand and show that they outperform myopic approaches.

A month ago, India's first driverless metro train in the national capital, Delhi, was launched. Yes! Like it or not, automation is happening and will continue to happen in places where you couldn't have imagined before. Artificial Intelligence has swept away the world around us, leading to the natural progression of demand for skilled professionals in the job market. It is one field that will never go outdated and will continue to grow. Wondering how to leverage this opportunity? How can you prepare yourself for such a league of jobs that make the world go around? We have got a repository of questions to help you get ready for your next interview! This article will cover the artificial intelligence interview questions and help you with the much-needed tips and tricks to crack the interview. The article is divided into three parts: basic artificial intelligence questions, intermediate level, and advanced AI questions. AnalytixLabs is India's top-ranked AI & Data Science Institute and is in its tenth year.

B-cell epitopes play a key role in stimulating B-cells, triggering the primary immune response which results in antibody production as well as the establishment of long-term immunity in the form of memory cells. Consequently, being able to accurately predict appropriate linear B-cell epitope regions would pave the way for the development of new protein-based vaccines. Knowing how much confidence there is in a prediction is also essential for gaining clinicians' trust in the technology. In this article, we propose a calibrated uncertainty estimation in deep learning to approximate variational Bayesian inference using MC-DropWeights to predict epitope regions using the data from the immune epitope database. Having applied this onto SARS-CoV-2, it can more reliably predict B-cell epitopes than standard methods. This will be able to identify safe and effective vaccine candidates against Covid-19.