Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the proximity of the sensor payload to the ground coupled with a limited field of view. To address this issue, we propose Blind-motion with Intermittently Scheduled Scans (BLISS) which combines proprioception-only mobility with intermittent scans to be resilient against both localization failures and collision risks. BLISS is formulated as an integrated Task and Motion Planning (TAMP) problem that leads to a Chance-Constrained Hybrid Partially Observable Markov Decision Process (CC-HPOMDP), known to be computationally intractable due to the curse of history. Our novelty lies in reformulating CC-HPOMDP as a tractable, convex Mixed Integer Linear Program. This allows us to solve BLISS-TAMP significantly faster and jointly derive optimal task-motion plans. Simulations and hardware experiments on the EELS snake robot show our method achieves over an order of magnitude computational improvement compared to state-of-the-art POMDP planners and $>$ 50\% better navigation time optimality versus classical two-stage planners.

Driven by inherent uncertainty and the sim-to-real gap, robust reinforcement learning (RL) seeks to improve resilience against the complexity and variability in agent-environment sequential interactions. Despite the existence of a large number of RL benchmarks, there is a lack of standardized benchmarks for robust RL. Current robust RL policies often focus on a specific type of uncertainty and are evaluated in distinct, one-off environments. In this work, we introduce Robust-Gymnasium, a unified modular benchmark designed for robust RL that supports a wide variety of disruptions across all key RL components-agents' observed state and reward, agents' actions, and the environment. Offering over sixty diverse task environments spanning control and robotics, safe RL, and multi-agent RL, it provides an open-source and user-friendly tool for the community to assess current methods and foster the development of robust RL algorithms. In addition, we benchmark existing standard and robust RL algorithms within this framework, uncovering significant deficiencies in each and offering new insights.

This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks specified by Linear Temporal Logic (LTL) formulas. To capture both types of uncertainty in a unified modelling framework, we utilise Markov Decision Processes with Set-valued Transitions (MDPSTs). We introduce a novel solution technique for the optimal robust strategy synthesis of MDPSTs with LTL specifications. To improve efficiency, our work leverages limit-deterministic B\"uchi automata (LDBAs) as the automaton representation for LTL to take advantage of their efficient constructions. To tackle the inherent nondeterminism in MDPSTs, which presents a significant challenge for reducing the LTL planning problem to a reachability problem, we introduce the concept of a Winning Region (WR) for MDPSTs. Additionally, we propose an algorithm for computing the WR over the product of the MDPST and the LDBA. Finally, a robust value iteration algorithm is invoked to solve the reachability problem. We validate the effectiveness of our approach through a case study involving a mobile robot operating in the hexagonal world, demonstrating promising efficiency gains.

Neural models for amortized probabilistic clustering yield samples of cluster labels given a set-structured input, while avoiding lengthy Markov chain runs and the need for explicit data likelihoods. Existing methods which label each data point sequentially, like the Neural Clustering Process, often lead to cluster assignments highly dependent on the data order. Alternatively, methods that sequentially create full clusters, do not provide assignment probabilities. In this paper, we introduce GFNCP, a novel framework for amortized clustering. GFNCP is formulated as a Generative Flow Network with a shared energy-based parametrization of policy and reward. We show that the flow matching conditions are equivalent to consistency of the clustering posterior under marginalization, which in turn implies order invariance. GFNCP also outperforms existing methods in clustering performance on both synthetic and real-world data.

In contrast to popular decision-making frameworks such as reinforcement learning, which are built upon appealing to decision-theoretic notions such as Maximum Expected Utility, we instead construct an agent by trying to minimise the expected number of bits needed to losslessly describe general agent-environment interactions. The appeal with this approach is that if we can construct a good universal coding scheme for arbitrary agent interactions, one could simply sample from this coding distribution to generate a control policy. However when considering general agents, whose goal is to work well across multiple environments, this question turns out to be surprisingly subtle. Naive approaches which do not discriminate between actions and observations fail, and are subject to the self-delusion problem [Ortega et al., 2021]. In this work, we will adopt a universal source coding perspective to this question, and showcase its efficacy by applying it to the challenging non-stationary stochastic bandit problem. In the passive case, namely, sequential prediction of observations under the logarithmic loss, there is a well developed universal source coding literature for dealing with non-stationary sources under various types of non-stationarity. The most influential idea for modelling piecewise stationary sources is the transition diagram technique of Willems [1996]. This technique performs Bayesian model averaging over all possible partitions of a sequence of data, cleverly exploiting dynamic programming to yield an algorithm which has both quadratic time complexity and provable regret guarantees.

We introduce WOFOSTGym, a novel crop simulation environment designed to train reinforcement learning (RL) agents to optimize agromanagement decisions for annual and perennial crops in single and multi-farm settings. Effective crop management requires optimizing yield and economic returns while minimizing environmental impact, a complex sequential decision-making problem well suited for RL. However, the lack of simulators for perennial crops in multi-farm contexts has hindered RL applications in this domain. Existing crop simulators also do not support multiple annual crops. WOFOSTGym addresses these gaps by supporting 23 annual crops and two perennial crops, enabling RL agents to learn diverse agromanagement strategies in multi-year, multi-crop, and multi-farm settings. Our simulator offers a suite of challenging tasks for learning under partial observability, non-Markovian dynamics, and delayed feedback. WOFOSTGym's standard RL interface allows researchers without agricultural expertise to explore a wide range of agromanagement problems. Our experiments demonstrate the learned behaviors across various crop varieties and soil types, highlighting WOFOSTGym's potential for advancing RL-driven decision support in agriculture.

We describe and analyze a broad class of mixture models for real-valued multivariate data in which the probability density of observations within each component of the model is represented as an arbitrary combination of basis functions. Fits to these models give us a way to cluster data with distributions of unknown form, including strongly non-Gaussian or multimodal distributions, and return both a division of the data and an estimate of the distributions, effectively performing clustering and density estimation within each cluster at the same time. We describe two fitting methods, one using an expectation-maximization (EM) algorithm and the other a Bayesian non-parametric method using a collapsed Gibbs sampler. The former is numerically efficient, but gives only point estimates of the probability densities. The latter is more computationally demanding but returns a full Bayesian posterior and also an estimate of the number of components. We demonstrate our methods with a selection of illustrative applications and give code implementing both algorithms.

The goal of causal discovery is to learn a directed acyclic graph from data. One of the most well-known methods for this problem is Greedy Equivalence Search (GES). GES searches for the graph by incrementally and greedily adding or removing edges to maximize a model selection criterion. It has strong theoretical guarantees on infinite data but can fail in practice on finite data. In this paper, we first identify some of the causes of GES's failure, finding that it can get blocked in local optima, especially in denser graphs. We then propose eXtremely Greedy Equivalent Search (XGES), which involves a new heuristic to improve the search strategy of GES while retaining its theoretical guarantees. In particular, XGES favors deleting edges early in the search over inserting edges, which reduces the possibility of the search ending in local optima. A further contribution of this work is an efficient algorithmic formulation of XGES (and GES). We benchmark XGES on simulated datasets with known ground truth. We find that XGES consistently outperforms GES in recovering the correct graphs, and it is 10 times faster. XGES implementations in Python and C++ are available at https://github.com/ANazaret/XGES.

While gradient-based discrete samplers are effective in sampling from complex distributions, they are susceptible to getting trapped in local minima, particularly in high-dimensional, multimodal discrete distributions, owing to the discontinuities inherent in these landscapes. To circumvent this issue, we combine parallel tempering, also known as replica exchange, with the discrete Langevin proposal and develop the Parallel Tempering enhanced Discrete Langevin Proposal (PTDLP), which are simulated at a series of temperatures. Significant energy differences prompt sample swaps, which are governed by a Metropolis criterion specifically designed for discrete sampling to ensure detailed balance is maintained. Additionally, we introduce an automatic scheme to determine the optimal temperature schedule and the number of chains, ensuring adaptability across diverse tasks with minimal tuning. Theoretically, we establish that our algorithm converges non-asymptotically to the target energy and exhibits faster mixing compared to a single chain. Empirical results further emphasize the superiority of our method in sampling from complex, multimodal discrete distributions, including synthetic problems, restricted Boltzmann machines, and deep energy-based models.

The advent of Generative Artificial Intelligence (GAI) has heralded an inflection point that changed how society thinks about knowledge acquisition. While GAI cannot be fully trusted for decision-making, it may still provide valuable information that can be integrated into a decision pipeline. Rather than seeing the lack of certitude and inherent randomness of GAI as a problem, we view it as an opportunity. Indeed, variable answers to given prompts can be leveraged to construct a prior distribution which reflects assuredness of AI predictions. This prior distribution may be combined with tailored datasets for a fully Bayesian analysis with an AI-driven prior. In this paper, we explore such a possibility within a non-parametric Bayesian framework. The basic idea consists of assigning a Dirichlet process prior distribution on the data-generating distribution with AI generative model as its baseline. Hyper-parameters of the prior can be tuned out-of-sample to assess the informativeness of the AI prior. Posterior simulation is achieved by computing a suitably randomized functional on an augmented data that consists of observed (labeled) data as well as fake data whose labels have been imputed using AI. This strategy can be parallelized and rapidly produces iid samples from the posterior by optimization as opposed to sampling from conditionals. Our method enables (predictive) inference and uncertainty quantification leveraging AI predictions in a coherent probabilistic manner.